/*

 * dx_hand_model.cpp

 *

 * Academic License - for use in teaching, academic research, and meeting

 * course requirements at degree granting institutions only.  Not for

 * government, commercial, or other organizational use.

 *

 * Code generation for model "dx_hand_model".

 *

 * Model version              : 1.2142

 * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017

 * C++ source code generated on : Wed Mar 14 12:59:00 2018

 *

 * Target selection: ert.tlc

 * Note: GRT includes extra infrastructure and instrumentation for prototyping

 * Embedded hardware selection: Generic->Unspecified (assume 32-bit Generic)

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */



#include "dx_hand_model.h"

#include "dx_hand_model_private.h"

#define ParameterInitia_kfaixs2xtfargwk (3.0)

#define ParameterInitialV_kfaixs2xtfarg (23.4)

#define ParameterInitialVa_kfaixs2xtfar (44.8)

#define ParameterInitialVal_kfaixs2xtfa (8.0)

#define ParameterInitialValu_kfaixs2xtf (754.0)

#define ParameterInitialValue_kfaixs2x (1.2)

#define ParameterInitialValue_kfaixs2xt (0.2)

#define ParameterInitial_kfaixs2xtfargw (10.0)

#define d_ParameterInitia_c            (3.5)

#define d_ParameterInitia_d            (529.0)

#define d_ParameterInitia_g            (381.0)

#define d_ParameterInitia_k            (30.0)

#define d_ParameterInitia_k5           (50.0)

#define d_ParameterInitia_kh           (-32.0)

#define d_ParameterInitia_l            (579.0)

#define d_ParameterInitia_m            (576.0)

#define d_ParameterInitia_o            (517.0)

#define d_ParameterInitia_op           (-10.0)

#define d_ParameterInitia_or           (0.5)

#define d_ParameterInitia_p            (5.0)

#define d_ParameterInitialValue_kfaixs2 (20.0)

#define dx_ParameterInitialValue_kfaixs (44.0)

#define dx__ParameterInitialValue_kfaix (8.5)

#define dx_h_ParameterInitialValue_kfai (483.0)

#define dx_ha_ParameterInitialValue_kfa (-1.0)

#define dx_han_ParameterInitialValue_kf (-15.0)

#define dx_hand_ParameterInitialValue_k (1.0)

#define dx_hand_m_ParameterInitialValue (0.0)

#define dx_hand_model_MessageQueueLen  (1)



/* Block signals (auto storage) */

B_dx_hand_model_T dx_hand_model_B;



/* Block states (auto storage) */

DW_dx_hand_model_T dx_hand_model_DW;



/* Real-time model */

RT_MODEL_dx_hand_model_T dx_hand_model_M_;

RT_MODEL_dx_hand_model_T *const dx_hand_model_M = &dx_hand_model_M_;



/* Forward declaration for local functions */

static void dx_hand_model_sqrt(creal32_T *x);

static real32_T dx_hand_model_rescale(real32_T *re, real32_T *im);

static real32_T dx_hand_model_my_acos(real32_T x,

  B_MiddleDirectKinematics_dx_h_T *localB);



/* Forward declaration for local functions */

static real32_T dx_hand_model_rt_hypotf_snf(real32_T u0, real32_T u1);

static void dx_hand_model_sqrt_k(creal32_T *x);

static real32_T dx_hand_model_rescale_b(real32_T *re, real32_T *im);

static real32_T dx_hand_model_rt_atan2f_snf(real32_T u0, real32_T u1);

static real32_T dx_hand_model_my_acos_e(real32_T x);

static void dx_hand_model_sqrt_kq(creal32_T *x);

static real32_T dx_hand_model_rescale_e(real32_T *re, real32_T *im);

static void dx_hand_model_acos(creal32_T *x);

static void dx_hand_model_sqrt_l(creal32_T *x);

static void dx_hand_model_sqrt_e(creal32_T *x);

static creal_T dx_hand_model_my_sqrt(real_T x);

static real_T dx_hand_model_rt_atan2d_snf(real_T u0, real_T u1);

static void dx_hand_model_atan(creal_T x[2]);

static void dx_hand_model_sqrt_c(creal32_T *x);

static real32_T dx_hand_model_rescale_g(real32_T *re, real32_T *im);

static void rate_monotonic_scheduler(void);



/*

 * Writes out MAT-file header.  Returns success or failure.

 * Returns:

 *      0 - success

 *      1 - failure

 */

int_T rt_WriteMat4FileHeader(FILE *fp, int32_T m, int32_T n, const char *name)

{

  typedef enum { ELITTLE_ENDIAN, EBIG_ENDIAN } ByteOrder;



  int16_T one = 1;

  ByteOrder byteOrder = (*((int8_T *)&one)==1) ? ELITTLE_ENDIAN : EBIG_ENDIAN;

  int32_T type = (byteOrder == ELITTLE_ENDIAN) ? 0: 1000;

  int32_T imagf = 0;

  int32_T name_len = (int32_T)strlen(name) + 1;

  if ((fwrite(&type, sizeof(int32_T), 1, fp) == 0) ||

      (fwrite(&m, sizeof(int32_T), 1, fp) == 0) ||

      (fwrite(&n, sizeof(int32_T), 1, fp) == 0) ||

      (fwrite(&imagf, sizeof(int32_T), 1, fp) == 0) ||

      (fwrite(&name_len, sizeof(int32_T), 1, fp) == 0) ||

      (fwrite(name, sizeof(char), name_len, fp) == 0)) {

    return(1);

  } else {

    return(0);

  }

}                                      /* end rt_WriteMat4FileHeader */



/*

 * Set which subrates need to run this base step (base rate always runs).

 * This function must be called prior to calling the model step function

 * in order to "remember" which rates need to run this base step.  The

 * buffering of events allows for overlapping preemption.

 */

void dx_hand_model_SetEventsForThisBaseStep(boolean_T *eventFlags)

{

  /* Task runs when its counter is zero, computed via rtmStepTask macro */

  eventFlags[1] = ((boolean_T)rtmStepTask(dx_hand_model_M, 1));

}



/*

 *   This function updates active task flag for each subrate

 * and rate transition flags for tasks that exchange data.

 * The function assumes rate-monotonic multitasking scheduler.

 * The function must be called at model base rate so that

 * the generated code self-manages all its subrates and rate

 * transition flags.

 */

static void rate_monotonic_scheduler(void)

{

  /* To ensure a deterministic data transfer between two rates,

   * data is transferred at the priority of a fast task and the frequency

   * of the slow task.  The following flags indicate when the data transfer

   * happens.  That is, a rate interaction flag is set true when both rates

   * will run, and false otherwise.

   */



  /* tid 0 shares data with slower tid rate: 1 */

  dx_hand_model_M->Timing.RateInteraction.TID0_1 =

    (dx_hand_model_M->Timing.TaskCounters.TID[1] == 0);



  /* Compute which subrates run during the next base time step.  Subrates

   * are an integer multiple of the base rate counter.  Therefore, the subtask

   * counter is reset when it reaches its limit (zero means run).

   */

  (dx_hand_model_M->Timing.TaskCounters.TID[1])++;

  if ((dx_hand_model_M->Timing.TaskCounters.TID[1]) > 199) {/* Sample time: [2.0s, 0.0s] */

    dx_hand_model_M->Timing.TaskCounters.TID[1] = 0;

  }

}



/*

 * Output and update for atomic system:

 *    '<S35>/Optimized_Static_Problem'

 *    '<S82>/Optimized_Static_Problem'

 *    '<S129>/Optimized_Static_Problem'

 *    '<S174>/Optimized_Static_Problem'

 */

void dx_Optimized_Static_Problem(const real32_T rtu_Jcomponents[4], real32_T

  rtu_force_vector, real32_T rtu_force_vector_o, B_Optimized_Static_Problem_dx_T

  *localB)

{

  real32_T y;

  real32_T y_tmp;

  y = 1.0F / (rtu_Jcomponents[1] * rtu_Jcomponents[1] + rtu_Jcomponents[3] *

              rtu_Jcomponents[3]);

  y_tmp = rtu_Jcomponents[1] * y;

  y *= rtu_Jcomponents[3];



  /* SignalConversion: '<S43>/TmpSignal ConversionAt SFunction Inport2' */

  localB->y = ((1.0F - y_tmp * rtu_Jcomponents[1]) * rtu_Jcomponents[0] + (0.0F

    - y * rtu_Jcomponents[1]) * rtu_Jcomponents[2]) * rtu_force_vector + ((0.0F

    - y_tmp * rtu_Jcomponents[3]) * rtu_Jcomponents[0] + (1.0F - y *

    rtu_Jcomponents[3]) * rtu_Jcomponents[2]) * rtu_force_vector_o;

}



/*

 * Output and update for atomic system:

 *    '<S38>/Classic_Static_Problem'

 *    '<S83>/Classic_Static_Problem'

 *    '<S130>/Classic_Static_Problem'

 *    '<S175>/Classic_Static_Problem'

 */

void dx_h_Classic_Static_Problem(const real32_T rtu_Jcomponents[4], const

  real32_T rtu_operational_space[2], B_Classic_Static_Problem_dx_h_T *localB)

{

  localB->rate = rtu_Jcomponents[0] * rtu_operational_space[0] +

    rtu_Jcomponents[2] * rtu_operational_space[1];

}



/*

 * Output and update for atomic system:

 *    '<S38>/Optimized_Static_Problem'

 *    '<S83>/Optimized_Static_Problem'

 *    '<S130>/Optimized_Static_Problem'

 *    '<S175>/Optimized_Static_Problem'

 */

void Optimized_Static_Problem_e(const real32_T rtu_Jcomponents[4], const

  real32_T rtu_force_vector[2], B_Optimized_Static_Problem_l_T *localB)

{

  real32_T y;

  real32_T y_tmp;

  y = 1.0F / (rtu_Jcomponents[1] * rtu_Jcomponents[1] + rtu_Jcomponents[3] *

              rtu_Jcomponents[3]);

  y_tmp = rtu_Jcomponents[1] * y;

  y *= rtu_Jcomponents[3];

  localB->y = ((1.0F - y_tmp * rtu_Jcomponents[1]) * rtu_Jcomponents[0] + (0.0F

    - y * rtu_Jcomponents[1]) * rtu_Jcomponents[2]) * rtu_force_vector[0] +

    ((0.0F - y_tmp * rtu_Jcomponents[3]) * rtu_Jcomponents[0] + (1.0F - y *

      rtu_Jcomponents[3]) * rtu_Jcomponents[2]) * rtu_force_vector[1];

}



/*

 * Output and update for atomic system:

 *    '<S80>/Middle Jacobian'

 *    '<S127>/Pinky Jacobian'

 *    '<S172>/Ring Jacobian'

 */

void dx_hand_mode_MiddleJacobian(const real32_T rtu_pose[8], real32_T rtu_sensor,

  real32_T rtu_sensor_f, const real32_T rtu_measurements[18], const real32_T

  rtu_q_pr[2], real32_T rtu_J22_old, B_MiddleJacobian_dx_hand_mode_T *localB)

{

  real32_T J22_c_tmp_tmp;

  real32_T a_tmp_tmp;

  real32_T J22_c_tmp;

  real32_T J22_c_tmp_0;

  real32_T J22_c_tmp_1;

  real32_T J22_c_tmp_2;

  real32_T J22_c_tmp_tmp_0;

  real32_T a_tmp_tmp_tmp;

  real32_T J22_c_tmp_3;

  real32_T a_tmp_tmp_tmp_tmp;

  real32_T J22_c_tmp_4;

  real32_T a_tmp_tmp_tmp_tmp_0;

  real32_T J22_c_tmp_tmp_tmp;

  real32_T J22_c_tmp_5;

  real32_T a_tmp_tmp_0;

  real32_T a_tmp_tmp_1;

  localB->x_tmp = (real32_T)sin((real_T)rtu_pose[5]);



  /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */

  localB->a_tmp = rtu_sensor_f - rtu_pose[2];

  localB->a_tmp_m = (real32_T)sin((real_T)rtu_pose[2]);

  localB->a_tmp_c = (real32_T)cos((real_T)localB->a_tmp);



  /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */

  localB->a_tmp_k = rtu_sensor_f - rtu_pose[3];

  localB->a_tmp_tmp_p = localB->a_tmp_k - rtu_pose[2];

  localB->a_tmp_cx = (real32_T)cos((real_T)localB->a_tmp_tmp_p);

  localB->a_tmp_b = (real32_T)cos((real_T)rtu_pose[2]);

  localB->a_tmp_tmp = (real32_T)sin((real_T)localB->a_tmp);

  localB->a_tmp = localB->a_tmp_tmp * rtu_measurements[5];

  localB->a_tmp_cv = (real32_T)sin((real_T)localB->a_tmp_tmp_p);

  localB->a_tmp_f = rtu_pose[4] - rtu_pose[2];

  localB->J22_c = localB->a_tmp_cv * rtu_measurements[7];

  localB->a_tmp_g = localB->a_tmp_cx * rtu_measurements[7];

  localB->a_tmp_g1 = rtu_pose[0] + rtu_pose[1];

  localB->a_tmp_me = localB->a_tmp_c * rtu_measurements[6];

  localB->a_tmp_n = localB->a_tmp_cv * rtu_measurements[12];

  localB->a_tmp_p = (real32_T)cos((real_T)localB->a_tmp_g1);

  localB->a_tmp_l = localB->a_tmp_c * rtu_measurements[13];

  localB->a_tmp_j = localB->a_tmp_tmp * rtu_measurements[6];

  localB->a_tmp_d = localB->a_tmp_cx * rtu_measurements[12];

  localB->a_tmp_g1 = (real32_T)sin((real_T)localB->a_tmp_g1);

  localB->a_tmp_k = (real32_T)cos((real_T)(localB->a_tmp_k - rtu_pose[4]));

  localB->a_tmp_gu = rtu_measurements[7] + rtu_measurements[8];

  localB->a_tmp_tmp_p = localB->a_tmp_cv * rtu_measurements[8];

  localB->a_tmp_tmp_l = (real32_T)sin((real_T)localB->a_tmp_f);

  a_tmp_tmp_tmp_tmp = localB->J22_c + localB->a_tmp_d;

  localB->a_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp * localB->a_tmp_g1;

  localB->a_tmp_tmp_tmp_d = localB->a_tmp_g - localB->a_tmp_n;

  localB->a_tmp_tmp_d = localB->a_tmp_tmp_tmp + localB->a_tmp_tmp_tmp_d *

    localB->a_tmp_p;

  localB->a_tmp_tmp_dy = localB->a_tmp_c * rtu_measurements[5];

  localB->a_tmp_tmp_lx = localB->a_tmp_tmp * rtu_measurements[13];

  localB->a_tmp_tmp_o = (real32_T)cos((real_T)rtu_pose[0]);

  a_tmp_tmp_tmp_tmp_0 = rtu_measurements[14] * localB->a_tmp_m;

  a_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp_0 - localB->a_tmp;

  localB->a_tmp_tmp_b = a_tmp_tmp_tmp - localB->a_tmp_l;

  localB->a_tmp_tmp_n = ((localB->a_tmp_l - localB->a_tmp_j) - localB->J22_c) -

    localB->a_tmp_d;

  localB->a_tmp_tmp_bs = localB->a_tmp_cx * rtu_measurements[8];

  localB->a_tmp_f = (real32_T)cos((real_T)localB->a_tmp_f);

  localB->a_tmp_tmp_ln = ((localB->a_tmp_me + localB->a_tmp_tmp_lx) +

    localB->a_tmp_g) - localB->a_tmp_n;

  localB->a_tmp_tmp_tmp_b = ((((rtu_measurements[10] * localB->a_tmp_b -

    rtu_measurements[9] * localB->a_tmp_m) - localB->a_tmp) - localB->a_tmp_j) -

    localB->J22_c) - localB->a_tmp_tmp_p;

  localB->a_tmp_tmp_tmp_e = ((((rtu_measurements[9] * localB->a_tmp_b +

    rtu_measurements[10] * localB->a_tmp_m) - localB->a_tmp_tmp_dy) -

    localB->a_tmp_me) - localB->a_tmp_g) - localB->a_tmp_tmp_bs;

  localB->a_tmp_tmp_h = localB->a_tmp_tmp_tmp_e * localB->a_tmp_f +

    localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_l;

  localB->a_tmp_n = (real32_T)sin((real_T)rtu_pose[1]);

  a_tmp_tmp = localB->a_tmp_gu * localB->a_tmp_n * localB->a_tmp_k;

  a_tmp_tmp_0 = localB->a_tmp_tmp_b * a_tmp_tmp;

  a_tmp_tmp_1 = (localB->a_tmp_tmp_h * localB->a_tmp_tmp_d +

                 (localB->a_tmp_tmp_ln * localB->a_tmp_p - localB->a_tmp_tmp_n *

                  localB->a_tmp_g1) * (localB->a_tmp_k * localB->a_tmp_gu)) *

    localB->a_tmp_tmp_o;

  localB->a_tmp_m = a_tmp_tmp_0 - a_tmp_tmp_1;

  localB->J22_c_tmp_tmp = (real32_T)sin((real_T)rtu_pose[0]);

  J22_c_tmp_tmp_tmp = rtu_measurements[14] * localB->a_tmp_b;

  J22_c_tmp_tmp = (localB->a_tmp_tmp_dy + J22_c_tmp_tmp_tmp) -

    localB->a_tmp_tmp_lx;

  localB->a_tmp_b = J22_c_tmp_tmp * localB->a_tmp_tmp_o - localB->a_tmp_tmp_b *

    localB->J22_c_tmp_tmp;

  J22_c_tmp_tmp_0 = localB->a_tmp_gu * localB->a_tmp_g1 * localB->a_tmp_k;

  localB->J22_c_tmp = localB->a_tmp_tmp_n * J22_c_tmp_tmp_0;

  J22_c_tmp = (rtu_measurements[0] + 13.5F) * localB->a_tmp_tmp_o;

  J22_c_tmp_0 = rtu_measurements[1] - rtu_pose[6];

  J22_c_tmp_1 = J22_c_tmp - rtu_pose[6] * localB->J22_c_tmp_tmp;

  J22_c_tmp_2 = (rtu_measurements[0] + 13.5F) * localB->J22_c_tmp_tmp;

  localB->a_tmp_cx = (localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_tmp_d +

                      localB->a_tmp_tmp_ln * (localB->a_tmp_cv *

    localB->a_tmp_gu)) * localB->a_tmp_tmp_l + (localB->a_tmp_tmp_tmp_e *

    (localB->a_tmp_tmp_tmp_d * localB->a_tmp_f) + localB->a_tmp_tmp_ln *

    (localB->a_tmp_gu * localB->a_tmp_f * localB->a_tmp_cx));

  localB->a_tmp_tmp_tmp = (localB->J22_c_tmp - localB->a_tmp_tmp_h *

    localB->a_tmp_tmp_tmp) - localB->a_tmp_cx * localB->a_tmp_p;

  J22_c_tmp += J22_c_tmp_0 * localB->J22_c_tmp_tmp;

  localB->a_tmp_cv = localB->a_tmp_gu * localB->a_tmp_p * localB->a_tmp_k;

  J22_c_tmp_0 = J22_c_tmp_2 - J22_c_tmp_0 * localB->a_tmp_tmp_o;

  localB->a_tmp_tmp_tmp_d = localB->a_tmp_tmp_tmp * localB->J22_c_tmp_tmp +

    J22_c_tmp_tmp * a_tmp_tmp;

  J22_c_tmp_2 += rtu_pose[6] * localB->a_tmp_tmp_o;

  J22_c_tmp_3 = localB->a_tmp_gu * localB->J22_c_tmp_tmp;

  localB->a_tmp_tmp_tmp_b = localB->a_tmp_g1 * localB->a_tmp_tmp_o;

  J22_c_tmp_4 = localB->a_tmp_p * localB->a_tmp_tmp_o;

  localB->a_tmp_tmp_tmp_e = (real32_T)cos((real_T)rtu_pose[5]);

  J22_c_tmp_5 = localB->a_tmp_gu * rtu_pose[7] * localB->a_tmp_k;

  localB->a_tmp_tmp_tmp = J22_c_tmp_3 * localB->a_tmp_n * localB->a_tmp_k *

    J22_c_tmp_1 * localB->a_tmp_tmp_b - (localB->a_tmp_m * J22_c_tmp_2 -

    localB->a_tmp_tmp_tmp * (J22_c_tmp_1 * localB->J22_c_tmp_tmp)) *

    localB->a_tmp_tmp_o;

  J22_c_tmp_2 += (((localB->a_tmp_b * J22_c_tmp_5 + localB->a_tmp_b *

                    (J22_c_tmp_tmp_0 * J22_c_tmp)) - localB->a_tmp_b *

                   (localB->a_tmp_cv * J22_c_tmp_0)) - localB->a_tmp_tmp_tmp_d *

                  J22_c_tmp_1) / localB->a_tmp_m;

  J22_c_tmp_tmp = (real32_T)tan((real_T)rtu_pose[5]);

  J22_c_tmp_tmp_0 = localB->a_tmp_tmp * rtu_measurements[4];

  localB->a_tmp_tmp = (J22_c_tmp_tmp_0 + a_tmp_tmp_tmp_tmp_0) -

    (J22_c_tmp_tmp_tmp - localB->a_tmp_c * rtu_measurements[4]) * J22_c_tmp_tmp;

  localB->a_tmp_tmp_p += (localB->a_tmp + localB->a_tmp_j) + localB->J22_c;

  a_tmp_tmp_tmp_tmp_0 = localB->a_tmp_gu * localB->a_tmp_tmp_o;

  J22_c_tmp_tmp_tmp = a_tmp_tmp_tmp_tmp_0 * localB->a_tmp_g1 * localB->a_tmp_k;

  localB->a_tmp_g = ((localB->a_tmp_tmp_dy + localB->a_tmp_me) + localB->a_tmp_g)

    + localB->a_tmp_tmp_bs;

  localB->a_tmp += localB->a_tmp_l;

  J22_c_tmp_3 = (((((a_tmp_tmp_tmp - localB->a_tmp_j) - localB->J22_c) -

                   localB->a_tmp_d) * J22_c_tmp_tmp_tmp - J22_c_tmp_3 *

                  localB->a_tmp_p * localB->a_tmp_k * localB->a_tmp_tmp_b) -

                 localB->a_tmp_tmp_h * (a_tmp_tmp_tmp_tmp *

    localB->a_tmp_tmp_tmp_b)) - localB->a_tmp_cx * J22_c_tmp_4;

  J22_c_tmp_5 = localB->a_tmp_tmp_tmp * (localB->a_tmp_tmp * J22_c_tmp_5);

  localB->J22_c_tmp = ((((localB->a_tmp_tmp_p * localB->a_tmp_tmp_l *

    localB->a_tmp_tmp_d * localB->a_tmp_b + localB->J22_c_tmp * localB->a_tmp_b)

    + localB->a_tmp_g * localB->a_tmp_f * localB->a_tmp_tmp_d * localB->a_tmp_b)

                        - localB->a_tmp_tmp_ln * localB->a_tmp_cv *

                        localB->a_tmp_b) - localB->a_tmp_m *

                       (localB->a_tmp_tmp_dy - localB->a_tmp_tmp_lx)) -

    localB->a_tmp_tmp_tmp_d * localB->a_tmp;

  localB->a_tmp_cv = (((localB->a_tmp_tmp * (localB->a_tmp_tmp_l *

    localB->a_tmp_tmp_o) * localB->a_tmp_tmp_p * localB->a_tmp_tmp_d +

                        localB->a_tmp_tmp * J22_c_tmp_tmp_tmp *

                        localB->a_tmp_tmp_n) + localB->a_tmp_tmp *

                       (localB->a_tmp_f * localB->a_tmp_tmp_o) * localB->a_tmp_g

                       * localB->a_tmp_tmp_d) - localB->a_tmp_tmp * (a_tmp_tmp *

    localB->a_tmp)) - localB->a_tmp_tmp * (a_tmp_tmp_tmp_tmp_0 * localB->a_tmp_p

    * localB->a_tmp_k) * localB->a_tmp_tmp_ln;

  localB->a_tmp_tmp_tmp_d = J22_c_tmp_3 * (rtu_measurements[4] * J22_c_tmp_tmp *

    localB->a_tmp_c);



  /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */

  localB->J22_c = ((localB->J22_c_tmp * -(((J22_c_tmp * localB->a_tmp_tmp_tmp_b

    + rtu_pose[7] * localB->a_tmp_tmp_o) - J22_c_tmp_1 * localB->a_tmp_n) -

    J22_c_tmp_0 * J22_c_tmp_4) / (localB->a_tmp_tmp_tmp * rtu_pose[7]) -

                    (real32_T)fabs((real_T)(J22_c_tmp_2 * ((J22_c_tmp_3 *

    (localB->x_tmp * localB->x_tmp) / (localB->a_tmp_m * localB->a_tmp_tmp_tmp_e)

    + localB->a_tmp_tmp_tmp_e) * (localB->a_tmp_m * localB->a_tmp_m)) /

    J22_c_tmp_5)) * ((rtu_sensor - rtu_q_pr[0]) / 0.01F * 2.0F) / ((rtu_sensor_f

    - rtu_q_pr[1]) / 0.01F)) - J22_c_tmp_2 * (localB->a_tmp_m * localB->a_tmp_m)

                   * (J22_c_tmp_tmp_0 - (localB->a_tmp_cv -

    localB->a_tmp_tmp_tmp_d) / localB->a_tmp_m) / J22_c_tmp_5) / 2.0F;

  if ((localB->J22_c == 0.0F) || rtIsNaNF(localB->J22_c) || rtIsInfF

      (localB->J22_c)) {

    localB->J22_c = rtu_J22_old;

  }



  localB->J22_ol = localB->J22_c;

  localB->JTcomp[0] = (((((a_tmp_tmp_tmp * localB->a_tmp_tmp_tmp_b -

    rtu_measurements[13] * localB->a_tmp_tmp_o * localB->a_tmp_g1 *

    localB->a_tmp_c) - localB->a_tmp_tmp_b * localB->a_tmp_n) -

    localB->a_tmp_tmp_b * (localB->a_tmp_p * localB->J22_c_tmp_tmp)) *

                        (localB->a_tmp_gu * (localB->x_tmp * localB->x_tmp) *

    localB->a_tmp_k) + a_tmp_tmp_0) - a_tmp_tmp_1) * -localB->a_tmp_b /

    (localB->a_tmp_tmp_tmp * (localB->a_tmp_tmp * localB->a_tmp_tmp_tmp_e));

  localB->JTcomp[1] = localB->J22_c_tmp * localB->a_tmp_tmp_o /

    localB->a_tmp_tmp_tmp - ((localB->a_tmp_cv - localB->a_tmp_m *

    J22_c_tmp_tmp_0) - localB->a_tmp_tmp_tmp_d) * localB->a_tmp_b /

    (localB->a_tmp_tmp_tmp * localB->a_tmp_tmp);



  /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */

  localB->JTcomp[2] = -(((((((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[5] + rtu_measurements[14] * (real32_T)cos((real_T)

    rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13]) * (real32_T)cos((real_T)rtu_pose[0]) -

    ((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin

      ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)

     cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *

    (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[7] +

    rtu_measurements[8]) * rtu_pose[7] * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[4]))) + ((((real32_T)cos((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[5] + rtu_measurements[14] * (real32_T)cos

    ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[13]) * (real32_T)cos((real_T)rtu_pose[0]) -

    ((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin

      ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)

     cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *

    (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[7] +

    rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) *

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) *

    ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)rtu_pose[0]) +

     (rtu_measurements[1] - rtu_pose[6]) * (real32_T)sin((real_T)rtu_pose[0]))))

    - ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements

         [5] + rtu_measurements[14] * (real32_T)cos((real_T)rtu_pose[2])) -

        (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements

        [13]) * (real32_T)cos((real_T)rtu_pose[0]) - ((rtu_measurements[14] *

    (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[13]) * (real32_T)sin((real_T)rtu_pose[0])) *

    ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)

    (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[4])) * ((rtu_measurements[0] + 13.5F) * (real32_T)

    sin((real_T)rtu_pose[0]) - (rtu_measurements[1] - rtu_pose[6]) * (real32_T)

    cos((real_T)rtu_pose[0])))) - (((((((real32_T)cos((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12])

    * ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)

    (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[4]))) - ((((((rtu_measurements[9] * (real32_T)cos

    ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)

    rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos

    ((real_T)(rtu_pose[4] - rtu_pose[2])) + (((((rtu_measurements[10] *

    (real32_T)cos((real_T)rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin

    ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) *

    (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]

    + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1]))))

    - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -

             rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -

            (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

            rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin

         ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +

        ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

           rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose

    [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

        ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)

    (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos

    ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)

    rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]

    - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))

    + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements

         [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

         rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

    ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)

    (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2]))))) * (real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1]))) * (real32_T)sin((real_T)rtu_pose[0]) + (((real32_T)cos

    ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5] +

    rtu_measurements[14] * (real32_T)cos((real_T)rtu_pose[2])) - (real32_T)sin

    ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *

    ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)

    rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[4])))) * ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)

    rtu_pose[0]) - rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0]))) /

    (((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin

       ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) - (real32_T)

      cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13]) *

     ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)sin((real_T)

    rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[4]))) - (((((((rtu_measurements[9] * (real32_T)cos((real_T)

    rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -

    rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])

    - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin

                        ((real_T)(rtu_sensor_f - rtu_pose[2])) *

                        rtu_measurements[5]) - (real32_T)sin((real_T)

    (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -

                     (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -

    rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)

    (rtu_pose[0] + rtu_pose[1])) + ((real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

                      (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1]))) +

                      (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

                       (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) -

                       ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin

                       ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) * (rtu_measurements[7]

    + rtu_measurements[8]))) * (real32_T)cos((real_T)rtu_pose[0])) +

    ((rtu_measurements[0] + 13.5F) * (real32_T)sin((real_T)rtu_pose[0]) +

     rtu_pose[6] * (real32_T)cos((real_T)rtu_pose[0]))) *

                        (((((((((rtu_measurements[14] * (real32_T)sin((real_T)

    rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * ((rtu_measurements

    [7] + rtu_measurements[8]) * (real32_T)cos((real_T)rtu_pose[0]) * (real32_T)

    sin((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) - (rtu_measurements[7] +

    rtu_measurements[8]) * (real32_T)sin((real_T)rtu_pose[0]) * (real32_T)cos

    ((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[4])) * ((rtu_measurements[14] * (real32_T)sin

    ((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13])) - ((((((rtu_measurements[9] * (real32_T)cos((real_T)

    rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -

    rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])

    - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin

                        ((real_T)(rtu_sensor_f - rtu_pose[2])) *

                        rtu_measurements[5]) - (real32_T)sin((real_T)

    (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -

                     (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -

    rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * ((real32_T)sin

    ((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))))

    - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -

             rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -

            (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

            rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin

         ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +

        ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

           rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose

    [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

        ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)

    (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos

    ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)

    rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]

    - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))

    + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements

         [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

         rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

    ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)

    (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2]))))) * ((real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))) * (localB->x_tmp *

    localB->x_tmp) / ((((rtu_measurements[14] * (real32_T)sin((real_T)rtu_pose[2])

    - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5])

                        - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

                        rtu_measurements[13]) * ((rtu_measurements[7] +

    rtu_measurements[8]) * (real32_T)sin((real_T)rtu_pose[1]) * (real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) -

                       (((((((rtu_measurements[9] * (real32_T)cos((real_T)

    rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -

    (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4] -

    rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2])

    - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin

                        ((real_T)(rtu_sensor_f - rtu_pose[2])) *

                        rtu_measurements[5]) - (real32_T)sin((real_T)

    (rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) -

                     (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[4] -

    rtu_pose[2]))) * (((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7] + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)

    (rtu_pose[0] + rtu_pose[1])) + ((real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

                      (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1]))) +

                        (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

    (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) - ((((real32_T)cos

    ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13] - (real32_T)

    sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)

    sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] +

    rtu_pose[1]))) * ((real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[4])) * (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)

                       cos((real_T)rtu_pose[0])) * (real32_T)cos((real_T)

    rtu_pose[5])) + (real32_T)cos((real_T)rtu_pose[5])) * (localB->a_tmp_m *

    localB->a_tmp_m)) / (((rtu_measurements[7] + rtu_measurements[8]) *

    (real32_T)sin((real_T)rtu_pose[0]) * (real32_T)sin((real_T)rtu_pose[1]) *

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) *

    ((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)rtu_pose[0]) -

     rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0])) * ((rtu_measurements[14] *

    (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[13]) - ((((rtu_measurements[14] * (real32_T)

    sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[13]) * ((rtu_measurements[7] + rtu_measurements[8]) *

    (real32_T)sin((real_T)rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[4]))) - (((((((rtu_measurements[9] * (real32_T)cos

    ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)

    rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos

    ((real_T)(rtu_pose[4] - rtu_pose[2])) + (((((rtu_measurements[10] *

    (real32_T)cos((real_T)rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin

    ((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2]))

    * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) *

    (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]

    + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) +

    ((real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

     rtu_measurements[7] - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1]))) + (((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

                      (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) -

                      ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[13] - (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) * (real32_T)sin

                      ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4])) * (rtu_measurements[7]

    + rtu_measurements[8]))) * (real32_T)cos((real_T)rtu_pose[0])) *

    ((rtu_measurements[0] + 13.5F) * (real32_T)sin((real_T)rtu_pose[0]) +

     rtu_pose[6] * (real32_T)cos((real_T)rtu_pose[0])) - ((((((real32_T)cos

    ((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[13] - (real32_T)

    sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) - (real32_T)

    sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[12]) * ((rtu_measurements[7] +

    rtu_measurements[8]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) *

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[4]))) -

    ((((((rtu_measurements[9] * (real32_T)cos((real_T)rtu_pose[2]) +

          rtu_measurements[10] * (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)

         cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -

        (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6])

       - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

       rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3])

    - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)cos((real_T)(rtu_pose[4]

    - rtu_pose[2])) + (((((rtu_measurements[10] * (real32_T)cos((real_T)

    rtu_pose[2]) - rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -

    (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[5]) -

    (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements[6]) -

                        (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (real32_T)sin

     ((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] +

    (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1]))))

    - (((((((rtu_measurements[10] * (real32_T)cos((real_T)rtu_pose[2]) -

             rtu_measurements[9] * (real32_T)sin((real_T)rtu_pose[2])) -

            (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

            rtu_measurements[5]) - (real32_T)sin((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[6]) - (real32_T)sin((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin

         ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         rtu_measurements[8]) * ((real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7] - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) +

        ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

           rtu_measurements[6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose

    [2])) * rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

        ((real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

         (rtu_measurements[7] + rtu_measurements[8]))) * (real32_T)sin((real_T)

    (rtu_pose[4] - rtu_pose[2])) + ((((((rtu_measurements[9] * (real32_T)cos

    ((real_T)rtu_pose[2]) + rtu_measurements[10] * (real32_T)sin((real_T)

    rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[5]) - (real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) *

    rtu_measurements[6]) - (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[2])) * rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_sensor_f

    - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[8]) * (((real32_T)cos

    ((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]

    - (real32_T)sin((real_T)((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) *

    rtu_measurements[12]) * (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2])))

    + ((((real32_T)cos((real_T)(rtu_sensor_f - rtu_pose[2])) * rtu_measurements

         [6] + (real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

         rtu_measurements[13]) + (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[7]) - (real32_T)sin((real_T)

    ((rtu_sensor_f - rtu_pose[3]) - rtu_pose[2])) * rtu_measurements[12]) *

    ((rtu_measurements[7] + rtu_measurements[8]) * (real32_T)cos((real_T)

    (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_f -

    rtu_pose[3]) - rtu_pose[2]))))) * (real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1]))) * (((rtu_measurements[0] + 13.5F) * (real32_T)cos((real_T)

    rtu_pose[0]) - rtu_pose[6] * (real32_T)sin((real_T)rtu_pose[0])) * (real32_T)

                      sin((real_T)rtu_pose[0]))) * (real32_T)cos((real_T)

    rtu_pose[0])) * ((((real32_T)sin((real_T)(rtu_sensor_f - rtu_pose[2])) *

                       rtu_measurements[4] + rtu_measurements[14] * (real32_T)

                       sin((real_T)rtu_pose[2])) - (rtu_measurements[14] *

    (real32_T)cos((real_T)rtu_pose[2]) - (real32_T)cos((real_T)(rtu_sensor_f -

    rtu_pose[2])) * rtu_measurements[4]) * (real32_T)tan((real_T)rtu_pose[5])) *

                     ((rtu_measurements[7] + rtu_measurements[8]) * rtu_pose[7] *

                      (real32_T)cos((real_T)((rtu_sensor_f - rtu_pose[3]) -

    rtu_pose[4]))))));

  localB->JTcomp[3] = localB->J22_c;



  /* SignalConversion: '<S90>/TmpSignal ConversionAt SFunction Inport2' */

  localB->q_next[0] = rtu_sensor;

  localB->q_next[1] = rtu_sensor_f;

}



/*

 * Output and update for atomic system:

 *    '<S80>/Middle Jacobian '

 *    '<S127>/Pinky Jacobian '

 *    '<S172>/Ring Jacobian '

 */

void dx_hand_mo_MiddleJacobian_g(const real32_T rtu_pose[8], real32_T

  rtu_sensor_h, const real32_T rtu_measurements[18],

  B_MiddleJacobian_dx_hand_mo_j_T *localB)

{

  real32_T JTcomp_tmp;

  real32_T JTcomp_tmp_0;

  real32_T a_tmp_tmp;

  real32_T a_tmp_tmp_0;

  real32_T a_tmp_tmp_1;

  real32_T a_tmp_tmp_tmp_tmp;

  real32_T a_tmp_tmp_2;

  real32_T JTcomp_tmp_1;

  real32_T a_tmp_tmp_tmp_tmp_0;

  real32_T a_tmp_tmp_3;

  real32_T JTcomp_tmp_2;

  real32_T JTcomp_tmp_3;

  real32_T JTcomp_tmp_tmp;

  real32_T JTcomp_tmp_tmp_0;

  real32_T JTcomp_tmp_tmp_1;

  real32_T JTcomp_tmp_tmp_2;

  localB->c1 = rtu_pose[6] / 1000.0F;

  localB->c2 = rtu_pose[7] / 1000.0F;

  localB->offset = rtu_measurements[3] / 1000.0F;

  localB->LAB = rtu_measurements[4] / 1000.0F;

  localB->LBC = rtu_measurements[5] / 1000.0F;

  localB->LCD = rtu_measurements[6] / 1000.0F;

  localB->LDE = rtu_measurements[7] / 1000.0F;

  localB->LEF = rtu_measurements[8] / 1000.0F;

  localB->LGH = rtu_measurements[10] / 1000.0F;

  localB->LEJ = rtu_measurements[12] / 1000.0F;

  localB->LCI = rtu_measurements[13] / 1000.0F;

  localB->LKB = rtu_measurements[14] / 1000.0F;

  localB->LKH = rtu_measurements[9] / 1000.0F + localB->LKB;

  localB->x_tmp = (real32_T)sin((real_T)rtu_pose[5]);



  /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */

  localB->a_tmp = rtu_sensor_h - rtu_pose[2];

  localB->a_tmp_tmp = (real32_T)sin((real_T)rtu_pose[2]);

  localB->a_tmp_m = localB->LKB * localB->a_tmp_tmp;

  localB->a_tmp_tmp_k = (real32_T)sin((real_T)localB->a_tmp);

  localB->a_tmp_c = localB->a_tmp_tmp_k * localB->LBC;



  /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */

  localB->a_tmp_cx = rtu_sensor_h - rtu_pose[3];

  localB->a_tmp_tmp_c = localB->a_tmp_cx - rtu_pose[2];

  localB->a_tmp_b = (real32_T)sin((real_T)localB->a_tmp_tmp_c);

  localB->a_tmp_p = (real32_T)cos((real_T)rtu_pose[2]);

  localB->a_tmp = (real32_T)cos((real_T)localB->a_tmp);

  localB->a_tmp_f = (real32_T)cos((real_T)localB->a_tmp_tmp_c);

  localB->a_tmp_g = rtu_pose[4] - rtu_pose[2];

  localB->a_tmp_g1 = localB->a_tmp_b * localB->LDE;

  localB->a_tmp_me = localB->a_tmp_f * localB->LDE;

  localB->a_tmp_n = rtu_pose[0] + rtu_pose[1];

  localB->a_tmp_pp = localB->a_tmp * localB->LCD;

  localB->a_tmp_l = localB->a_tmp_b * localB->LEJ;

  localB->a_tmp_j = (real32_T)cos((real_T)localB->a_tmp_n);

  localB->a_tmp_d = localB->a_tmp * localB->LCI;

  localB->a_tmp_gu = localB->a_tmp_tmp_k * localB->LCD;

  localB->a_tmp_ld = localB->a_tmp_f * localB->LEJ;

  localB->a_tmp_n = (real32_T)sin((real_T)localB->a_tmp_n);

  localB->a_tmp_cx = (real32_T)cos((real_T)(localB->a_tmp_cx - rtu_pose[4]));

  localB->a_tmp_dh = localB->LEF + localB->LDE;

  localB->a_tmp_tmp_c = localB->a_tmp_m - localB->a_tmp_c;

  localB->a_tmp_tmp_d = (real32_T)cos((real_T)rtu_pose[0]);

  localB->a_tmp_tmp_l = localB->a_tmp_tmp_c - localB->a_tmp_d;

  localB->a_tmp_tmp_o = localB->a_tmp_g1 + localB->a_tmp_ld;

  a_tmp_tmp_tmp_tmp = localB->a_tmp_b * localB->LEF;

  localB->a_tmp_tmp_tmp = (((((localB->LGH * localB->a_tmp_p + localB->a_tmp_m)

    - localB->LKH * localB->a_tmp_tmp) - localB->a_tmp_c) - localB->a_tmp_gu) -

    a_tmp_tmp_tmp_tmp) - localB->a_tmp_g1;

  localB->a_tmp_tmp_tmp_n = (real32_T)sin((real_T)localB->a_tmp_g);

  localB->a_tmp_g = (real32_T)cos((real_T)localB->a_tmp_g);

  localB->a_tmp_tmp_tmp_tmp = localB->a_tmp * localB->LBC;

  localB->a_tmp_tmp_tmp_tmp_l = localB->LKB * localB->a_tmp_p;

  a_tmp_tmp_tmp_tmp_0 = localB->a_tmp_f * localB->LEF;

  localB->a_tmp_tmp_tmp_b = (((((localB->LGH * localB->a_tmp_tmp + localB->LKH *

    localB->a_tmp_p) - localB->a_tmp_tmp_tmp_tmp_l) - localB->a_tmp_tmp_tmp_tmp)

    - localB->a_tmp_pp) - a_tmp_tmp_tmp_tmp_0) - localB->a_tmp_me;

  localB->a_tmp_tmp = localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_tmp_n +

    localB->a_tmp_tmp_tmp_b * localB->a_tmp_g;

  localB->a_tmp_tmp_b = localB->a_tmp_me - localB->a_tmp_l;

  localB->a_tmp_tmp_tmp_h = localB->a_tmp_tmp_k * localB->LCI;

  localB->a_tmp_l = ((localB->a_tmp_pp + localB->a_tmp_tmp_tmp_h) +

                     localB->a_tmp_me) - localB->a_tmp_l;

  a_tmp_tmp = (real32_T)sin((real_T)rtu_pose[1]);

  a_tmp_tmp_0 = ((localB->a_tmp_d - localB->a_tmp_gu) - localB->a_tmp_g1) -

    localB->a_tmp_ld;

  a_tmp_tmp_1 = localB->a_tmp_tmp_o * localB->a_tmp_n;

  a_tmp_tmp_2 = a_tmp_tmp_1 + localB->a_tmp_tmp_b * localB->a_tmp_j;

  a_tmp_tmp_3 = localB->a_tmp_dh * a_tmp_tmp * localB->a_tmp_cx;

  localB->a_tmp_p = localB->a_tmp_tmp_l * a_tmp_tmp_3 - (localB->a_tmp_tmp *

    a_tmp_tmp_2 + (localB->a_tmp_l * localB->a_tmp_j - a_tmp_tmp_0 *

                   localB->a_tmp_n) * (localB->a_tmp_cx * localB->a_tmp_dh)) *

    localB->a_tmp_tmp_d;

  JTcomp_tmp = (real32_T)sin((real_T)rtu_pose[0]);

  JTcomp_tmp_0 = localB->a_tmp_dh * JTcomp_tmp;

  localB->a_tmp_b = (localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_b +

                     localB->a_tmp_l * (localB->a_tmp_b * localB->a_tmp_dh)) *

    localB->a_tmp_tmp_tmp_n + (localB->a_tmp_tmp_tmp_b * (localB->a_tmp_tmp_b *

    localB->a_tmp_g) + localB->a_tmp_l * (localB->a_tmp_dh * localB->a_tmp_g *

    localB->a_tmp_f));

  localB->a_tmp_f = localB->offset * localB->a_tmp_tmp_d;

  localB->a_tmp_tmp_tmp = localB->a_tmp_f - localB->c1 * JTcomp_tmp;

  localB->a_tmp_tmp_tmp_b = (localB->a_tmp_tmp_tmp_tmp +

    localB->a_tmp_tmp_tmp_tmp_l) - localB->a_tmp_tmp_tmp_h;

  localB->a_tmp_tmp_b = localB->a_tmp_tmp_tmp_b * localB->a_tmp_tmp_d -

    localB->a_tmp_tmp_l * JTcomp_tmp;

  JTcomp_tmp_tmp_0 = localB->a_tmp_dh * localB->a_tmp_n * localB->a_tmp_cx;

  JTcomp_tmp_1 = a_tmp_tmp_0 * JTcomp_tmp_tmp_0;

  a_tmp_tmp_1 = (JTcomp_tmp_1 - localB->a_tmp_tmp * a_tmp_tmp_1) -

    localB->a_tmp_b * localB->a_tmp_j;

  localB->offset *= JTcomp_tmp;

  JTcomp_tmp_tmp_1 = localB->offset + localB->c1 * localB->a_tmp_tmp_d;

  JTcomp_tmp_2 = JTcomp_tmp_0 * a_tmp_tmp * localB->a_tmp_cx *

    localB->a_tmp_tmp_tmp * localB->a_tmp_tmp_l - (localB->a_tmp_p *

    JTcomp_tmp_tmp_1 - a_tmp_tmp_1 * (localB->a_tmp_tmp_tmp * JTcomp_tmp)) *

    localB->a_tmp_tmp_d;

  localB->a_tmp_tmp_k *= localB->LAB;

  JTcomp_tmp_tmp = (real32_T)tan((real_T)rtu_pose[5]);

  localB->a_tmp_m = (localB->a_tmp_tmp_k + localB->a_tmp_m) -

    (localB->a_tmp_tmp_tmp_tmp_l - localB->a_tmp * localB->LAB) * JTcomp_tmp_tmp;

  localB->a_tmp_tmp_tmp_tmp_l = localB->a_tmp_dh * localB->a_tmp_tmp_d;

  JTcomp_tmp_3 = localB->a_tmp_tmp_tmp_tmp_l * localB->a_tmp_n *

    localB->a_tmp_cx;

  localB->a_tmp_n *= localB->a_tmp_tmp_d;

  JTcomp_tmp_tmp_2 = localB->a_tmp_j * localB->a_tmp_tmp_d;

  JTcomp_tmp_0 = (((((localB->a_tmp_tmp_c - localB->a_tmp_gu) - localB->a_tmp_g1)

                    - localB->a_tmp_ld) * JTcomp_tmp_3 - JTcomp_tmp_0 *

                   localB->a_tmp_j * localB->a_tmp_cx * localB->a_tmp_tmp_l) -

                  localB->a_tmp_tmp * (localB->a_tmp_tmp_o * localB->a_tmp_n)) -

    localB->a_tmp_b * JTcomp_tmp_tmp_2;

  localB->a_tmp_b = (real32_T)cos((real_T)rtu_pose[5]);

  localB->JTcomp[0] = ((1.0F - JTcomp_tmp_0 / localB->a_tmp_p) * (localB->x_tmp *

    localB->x_tmp) + -1.0F) * (localB->a_tmp_p * localB->a_tmp_tmp_b) /

    (JTcomp_tmp_2 * (localB->a_tmp_m * localB->a_tmp_b));

  localB->a_tmp_tmp = ((localB->a_tmp_c + localB->a_tmp_gu) + a_tmp_tmp_tmp_tmp)

    + localB->a_tmp_g1;

  localB->a_tmp_me += (localB->a_tmp_tmp_tmp_tmp + localB->a_tmp_pp) +

    a_tmp_tmp_tmp_tmp_0;

  localB->a_tmp_c += localB->a_tmp_d;

  localB->a_tmp_d = localB->a_tmp_dh * localB->a_tmp_j * localB->a_tmp_cx;

  a_tmp_tmp_1 = a_tmp_tmp_1 * JTcomp_tmp + localB->a_tmp_tmp_tmp_b * a_tmp_tmp_3;

  JTcomp_tmp_1 = ((((localB->a_tmp_tmp * localB->a_tmp_tmp_tmp_n * a_tmp_tmp_2 *

                     localB->a_tmp_tmp_b + JTcomp_tmp_1 * localB->a_tmp_tmp_b) +

                    localB->a_tmp_me * localB->a_tmp_g * a_tmp_tmp_2 *

                    localB->a_tmp_tmp_b) - localB->a_tmp_l * localB->a_tmp_d *

                   localB->a_tmp_tmp_b) - localB->a_tmp_p *

                  (localB->a_tmp_tmp_tmp_tmp - localB->a_tmp_tmp_tmp_h)) -

    a_tmp_tmp_1 * localB->a_tmp_c;

  JTcomp_tmp_3 = (((localB->a_tmp_m * (localB->a_tmp_tmp_tmp_n *

    localB->a_tmp_tmp_d) * localB->a_tmp_tmp * a_tmp_tmp_2 + localB->a_tmp_m *

                    JTcomp_tmp_3 * a_tmp_tmp_0) + localB->a_tmp_m *

                   (localB->a_tmp_g * localB->a_tmp_tmp_d) * localB->a_tmp_me *

                   a_tmp_tmp_2) - localB->a_tmp_m * (a_tmp_tmp_3 *

    localB->a_tmp_c)) - localB->a_tmp_m * (localB->a_tmp_tmp_tmp_tmp_l *

    localB->a_tmp_j * localB->a_tmp_cx) * localB->a_tmp_l;

  JTcomp_tmp_0 *= localB->LAB * JTcomp_tmp_tmp * localB->a_tmp;

  localB->JTcomp[1] = JTcomp_tmp_1 * localB->a_tmp_tmp_d / JTcomp_tmp_2 -

    ((JTcomp_tmp_3 - localB->a_tmp_p * localB->a_tmp_tmp_k) - JTcomp_tmp_0) *

    localB->a_tmp_tmp_b / (JTcomp_tmp_2 * localB->a_tmp_m);

  localB->a_tmp_tmp = rtu_measurements[1] / 1000.0F - localB->c1;

  localB->a_tmp_me = localB->a_tmp_dh * localB->c2;

  JTcomp_tmp = localB->a_tmp_tmp * JTcomp_tmp + localB->a_tmp_f;

  localB->a_tmp_tmp = localB->offset - localB->a_tmp_tmp * localB->a_tmp_tmp_d;

  localB->a_tmp_f = localB->a_tmp_me * localB->a_tmp_cx;

  localB->a_tmp_tmp_b = (((localB->a_tmp_tmp_b * localB->a_tmp_f +

    localB->a_tmp_tmp_b * (JTcomp_tmp_tmp_0 * JTcomp_tmp)) - localB->a_tmp_tmp_b

    * (localB->a_tmp_d * localB->a_tmp_tmp)) - a_tmp_tmp_1 *

    localB->a_tmp_tmp_tmp) / localB->a_tmp_p + JTcomp_tmp_tmp_1;



  /* SignalConversion: '<S91>/TmpSignal ConversionAt SFunction Inport2' */

  localB->JTcomp[2] = localB->a_tmp_tmp_b * (((1.0F - (((((((localB->LKB *

    (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * ((localB->LEF

    + localB->LDE) * (real32_T)cos((real_T)rtu_pose[0]) * (real32_T)sin((real_T)

    (rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[4]))) - (localB->LEF + localB->LDE) * (real32_T)sin

    ((real_T)rtu_pose[0]) * (real32_T)cos((real_T)(rtu_pose[0] + rtu_pose[1])) *

    (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[4])) *

    ((localB->LKB * (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)

    (rtu_sensor_h - rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)

    (rtu_sensor_h - rtu_pose[2])) * localB->LCI)) - (((((((localB->LGH *

    (real32_T)cos((real_T)rtu_pose[2]) + localB->LKB * (real32_T)sin((real_T)

    rtu_pose[2])) - localB->LKH * (real32_T)sin((real_T)rtu_pose[2])) -

    (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LBC) -

    (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LCD) -

    (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *

    localB->LEF) - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LDE) * (real32_T)sin((real_T)(rtu_pose[4] -

    rtu_pose[2])) + ((((((localB->LGH * (real32_T)sin((real_T)rtu_pose[2]) +

    localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) - localB->LKB * (real32_T)

    cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2]))

                        * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCD) - (real32_T)cos((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (real32_T)cos

    ((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE + (real32_T)cos

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *

    ((real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) * (real32_T)cos((real_T)

    rtu_pose[0])))) - ((((((((localB->LGH * (real32_T)cos((real_T)rtu_pose[2]) +

    localB->LKB * (real32_T)sin((real_T)rtu_pose[2])) - localB->LKH * (real32_T)

    sin((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2]))

    * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LEF) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * ((real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE - (real32_T)sin

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) +

                        ((((real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCD + (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCI) + (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LDE) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * ((real32_T)sin((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * (localB->LEF + localB->LDE)))

                       * (real32_T)sin((real_T)(rtu_pose[4] - rtu_pose[2])) +

                       (((((((localB->LGH * (real32_T)sin((real_T)rtu_pose[2]) +

    localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) - localB->LKB * (real32_T)

    cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2]))

    * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCD) - (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LEF) - (real32_T)cos((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (((real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE - (real32_T)sin

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *

    (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2]))) + ((((real32_T)cos

    ((real_T)(rtu_sensor_h - rtu_pose[2])) * localB->LCD + (real32_T)sin((real_T)

    (rtu_sensor_h - rtu_pose[2])) * localB->LCI) + (real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)sin

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) *

                        ((localB->LEF + localB->LDE) * (real32_T)cos((real_T)

    (rtu_pose[4] - rtu_pose[2])) * (real32_T)cos((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2]))))) * ((real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1])) * (real32_T)cos((real_T)rtu_pose[0]))) / (((localB->LKB *

    (real32_T)sin((real_T)rtu_pose[2]) - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCI) * ((localB->LEF + localB->LDE) * (real32_T)sin

    ((real_T)rtu_pose[1]) * (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3])

    - rtu_pose[4]))) - ((((((((localB->LGH * (real32_T)cos((real_T)rtu_pose[2])

    + localB->LKB * (real32_T)sin((real_T)rtu_pose[2])) - localB->LKH *

    (real32_T)sin((real_T)rtu_pose[2])) - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LBC) - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)sin((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) * (real32_T)sin

    ((real_T)(rtu_pose[4] - rtu_pose[2])) + ((((((localB->LGH * (real32_T)sin

    ((real_T)rtu_pose[2]) + localB->LKH * (real32_T)cos((real_T)rtu_pose[2])) -

    localB->LKB * (real32_T)cos((real_T)rtu_pose[2])) - (real32_T)cos((real_T)

    (rtu_sensor_h - rtu_pose[2])) * localB->LBC) - (real32_T)cos((real_T)

    (rtu_sensor_h - rtu_pose[2])) * localB->LCD) - (real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEF) - (real32_T)cos

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE) *

    (real32_T)cos((real_T)(rtu_pose[4] - rtu_pose[2]))) * (((real32_T)sin

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LDE +

    (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *

    localB->LEJ) * (real32_T)sin((real_T)(rtu_pose[0] + rtu_pose[1])) +

    ((real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) *

     localB->LDE - (real32_T)sin((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LEJ) * (real32_T)cos((real_T)(rtu_pose[0] +

    rtu_pose[1]))) + (((((real32_T)cos((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCD + (real32_T)sin((real_T)(rtu_sensor_h - rtu_pose[2])) *

    localB->LCI) + (real32_T)cos((real_T)((rtu_sensor_h - rtu_pose[3]) -

    rtu_pose[2])) * localB->LDE) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * (real32_T)cos((real_T)

    (rtu_pose[0] + rtu_pose[1])) - ((((real32_T)cos((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCI - (real32_T)sin((real_T)(rtu_sensor_h -

    rtu_pose[2])) * localB->LCD) - (real32_T)sin((real_T)((rtu_sensor_h -

    rtu_pose[3]) - rtu_pose[2])) * localB->LDE) - (real32_T)cos((real_T)

    ((rtu_sensor_h - rtu_pose[3]) - rtu_pose[2])) * localB->LEJ) * (real32_T)sin

                      ((real_T)(rtu_pose[0] + rtu_pose[1]))) * ((real32_T)cos

    ((real_T)((rtu_sensor_h - rtu_pose[3]) - rtu_pose[4])) * (localB->LEF +

    localB->LDE))) * (real32_T)cos((real_T)rtu_pose[0]))) * (localB->x_tmp *

    localB->x_tmp) + -1.0F) * -(localB->a_tmp_p * localB->a_tmp_p)) /

    (JTcomp_tmp_2 * (localB->a_tmp_m * (localB->a_tmp_me * localB->a_tmp_b *

       localB->a_tmp_cx)));

  localB->JTcomp[3] = JTcomp_tmp_1 * -(((JTcomp_tmp * localB->a_tmp_n +

    localB->c2 * localB->a_tmp_tmp_d) - localB->a_tmp_tmp_tmp * a_tmp_tmp) -

    localB->a_tmp_tmp * JTcomp_tmp_tmp_2) / (JTcomp_tmp_2 * localB->c2) -

    localB->a_tmp_tmp_b * (localB->a_tmp_p * localB->a_tmp_p) *

    (localB->a_tmp_tmp_k - (JTcomp_tmp_3 - JTcomp_tmp_0) / localB->a_tmp_p) /

    (JTcomp_tmp_2 * (localB->a_tmp_m * localB->a_tmp_f));

}



real32_T rt_hypotf_snf(real32_T u0, real32_T u1)

{

  real32_T y;

  real32_T a;

  a = (real32_T)fabs((real_T)u0);

  y = (real32_T)fabs((real_T)u1);

  if (a < y) {

    a /= y;

    y *= (real32_T)sqrt((real_T)(a * a + 1.0F));

  } else if (a > y) {

    y /= a;

    y = (real32_T)sqrt((real_T)(y * y + 1.0F)) * a;

  } else {

    if (!rtIsNaNF(y)) {

      y = a * 1.41421354F;

    }

  }



  return y;

}



/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */

static void dx_hand_model_sqrt(creal32_T *x)

{

  real32_T xr;

  real32_T absxr;

  xr = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      absxr = 0.0F;

      xr = (real32_T)sqrt((real_T)-x->re);

    } else {

      absxr = (real32_T)sqrt((real_T)x->re);

      xr = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      absxr = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      xr = -absxr;

    } else {

      absxr = (real32_T)sqrt((real_T)(x->im / 2.0F));

      xr = absxr;

    }

  } else if (rtIsNaNF(x->re)) {

    absxr = x->re;

  } else if (rtIsNaNF(x->im)) {

    absxr = x->im;

    xr = x->im;

  } else if (rtIsInfF(x->im)) {

    absxr = (real32_T)fabs((real_T)x->im);

    xr = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      absxr = 0.0F;

      xr = x->im * -x->re;

    } else {

      absxr = x->re;

      xr = 0.0F;

    }

  } else {

    absxr = (real32_T)fabs((real_T)x->re);

    xr = (real32_T)fabs((real_T)x->im);

    if ((absxr > 8.50705867E+37F) || (xr > 8.50705867E+37F)) {

      absxr *= 0.5F;

      xr = rt_hypotf_snf(absxr, xr * 0.5F);

      if (xr > absxr) {

        absxr = (real32_T)sqrt((real_T)(absxr / xr + 1.0F)) * (real32_T)sqrt

          ((real_T)xr);

      } else {

        absxr = (real32_T)sqrt((real_T)xr) * 1.41421354F;

      }

    } else {

      absxr = (real32_T)sqrt((real_T)((rt_hypotf_snf(absxr, xr) + absxr) * 0.5F));

    }



    if (x->re > 0.0F) {

      xr = x->im / absxr * 0.5F;

    } else {

      if (x->im < 0.0F) {

        xr = -absxr;

      } else {

        xr = absxr;

      }



      absxr = x->im / xr * 0.5F;

    }

  }



  x->re = absxr;

  x->im = xr;

}



real32_T rt_atan2f_snf(real32_T u0, real32_T u1)

{

  real32_T y;

  int32_T u0_0;

  int32_T u1_0;

  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

    y = (rtNaNF);

  } else if (rtIsInfF(u0) && rtIsInfF(u1)) {

    if (u0 > 0.0F) {

      u0_0 = 1;

    } else {

      u0_0 = -1;

    }



    if (u1 > 0.0F) {

      u1_0 = 1;

    } else {

      u1_0 = -1;

    }



    y = (real32_T)atan2((real_T)(real32_T)u0_0, (real_T)(real32_T)u1_0);

  } else if (u1 == 0.0F) {

    if (u0 > 0.0F) {

      y = RT_PIF / 2.0F;

    } else if (u0 < 0.0F) {

      y = -(RT_PIF / 2.0F);

    } else {

      y = 0.0F;

    }

  } else {

    y = (real32_T)atan2((real_T)u0, (real_T)u1);

  }



  return y;

}



/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */

static real32_T dx_hand_model_rescale(real32_T *re, real32_T *im)

{

  real32_T scale;

  real32_T absim;

  scale = (real32_T)fabs((real_T)*re);

  absim = (real32_T)fabs((real_T)*im);

  if (scale > absim) {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    *im /= scale;

  } else if (absim > scale) {

    *re /= absim;

    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }



    scale = absim;

  } else {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }

  }



  return scale;

}



/* Function for MATLAB Function: '<S81>/Middle Direct Kinematics' */

static real32_T dx_hand_model_my_acos(real32_T x,

  B_MiddleDirectKinematics_dx_h_T *localB)

{

  real32_T y;

  real32_T b_ci;

  real32_T sai;

  if (!((real32_T)fabs((real_T)x) > 1.0F)) {

    localB->t.re = (real32_T)acos((real_T)x);

  } else {

    localB->v.re = 1.0F + x;

    localB->v.im = 0.0F;

    dx_hand_model_sqrt(&localB->v);

    localB->t.re = 1.0F - x;

    localB->t.im = 0.0F;

    dx_hand_model_sqrt(&localB->t);

    if (!((-localB->v.im == 0.0F) && (localB->t.im == 0.0F))) {

      b_ci = localB->v.re * localB->t.im + -localB->v.im * localB->t.re;

      if ((!((!rtIsInfF(b_ci)) && (!rtIsNaNF(b_ci)))) && (!rtIsNaNF(localB->v.re))

          && (!rtIsNaNF(-localB->v.im)) && (!rtIsNaNF(localB->t.re)) &&

          (!rtIsNaNF(localB->t.im))) {

        b_ci = localB->v.re;

        sai = -localB->v.im;

        dx_hand_model_rescale(&b_ci, &sai);

        b_ci = localB->t.re;

        sai = localB->t.im;

        dx_hand_model_rescale(&b_ci, &sai);

      }

    }



    localB->t.re = 2.0F * rt_atan2f_snf(localB->t.re, localB->v.re);

  }



  y = localB->t.re;

  return y;

}



/*

 * Output and update for atomic system:

 *    '<S81>/Middle Direct Kinematics'

 *    '<S128>/Pinky Direct Kinematics'

 *    '<S173>/Ring Direct Kinematics'

 */

void dx_h_MiddleDirectKinematics(real32_T rtu_u, real32_T rtu_u_l, const

  real32_T rtu_measurements[18], B_MiddleDirectKinematics_dx_h_T *localB)

{

  real32_T xD;

  real32_T yD;

  real32_T yI;

  real32_T LLI;

  real32_T temp;

  real32_T LDG;

  real32_T xD1;

  real32_T a_tmp;

  real32_T temp_tmp;

  real32_T yH_tmp;

  real32_T yH_tmp_0;

  localB->LKH = rtu_measurements[14] + rtu_measurements[9];

  localB->LDF = rtu_measurements[7] + rtu_measurements[8];

  localB->LBD = rtu_measurements[5] + rtu_measurements[6];

  localB->LKN = (real32_T)sqrt((real_T)(rtu_measurements[16] * rtu_measurements

    [16] + rtu_measurements[15] * rtu_measurements[15]));



  /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */

  localB->LAK = (real32_T)sqrt((real_T)((rtu_measurements[4] * rtu_measurements

    [4] + rtu_measurements[14] * rtu_measurements[14]) - 2.0F *

    rtu_measurements[4] * rtu_measurements[14] * (real32_T)cos((real_T)rtu_u_l)));

  a_tmp = rtu_u + rtu_measurements[17];

  localB->qK = 3.14159274F - ((dx_hand_model_my_acos(((-(rtu_measurements[4] *

    rtu_measurements[4]) + localB->LAK * localB->LAK) + rtu_measurements[14] *

    rtu_measurements[14]) / (2.0F * localB->LAK * rtu_measurements[14]), localB)

    + dx_hand_model_my_acos(((-(a_tmp * a_tmp) + localB->LAK * localB->LAK) +

    localB->LKN * localB->LKN) / (2.0F * localB->LAK * localB->LKN), localB)) +

    (real32_T)atan((real_T)(rtu_measurements[15] / rtu_measurements[16])));

  localB->xH = -localB->LKH * (real32_T)cos((real_T)localB->qK);

  localB->yH = localB->LKH * (real32_T)sin((real_T)localB->qK);



  /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */

  localB->xC = -rtu_measurements[14] * (real32_T)cos((real_T)localB->qK) -

    (real32_T)cos((real_T)(rtu_u_l - localB->qK)) * rtu_measurements[5];

  localB->LKH = rtu_measurements[14] * (real32_T)sin((real_T)localB->qK) -

    (real32_T)sin((real_T)(rtu_u_l - localB->qK)) * rtu_measurements[5];

  xD = localB->xC - (real32_T)cos((real_T)(rtu_u_l - localB->qK)) *

    rtu_measurements[6];

  yD = localB->LKH - (real32_T)sin((real_T)(rtu_u_l - localB->qK)) *

    rtu_measurements[6];

  localB->xC += (real32_T)sin((real_T)(rtu_u_l - localB->qK)) *

    rtu_measurements[13];

  yI = localB->LKH - (real32_T)cos((real_T)(rtu_u_l - localB->qK)) *

    rtu_measurements[13];

  localB->LKH = localB->xC - (-rtu_measurements[2]);

  LLI = yI - (-rtu_measurements[3]);

  LLI = (real32_T)sqrt((real_T)(localB->LKH * localB->LKH + LLI * LLI));

  temp_tmp = (rtu_measurements[0] + 13.5F) * (rtu_measurements[0] + 13.5F);

  temp = LLI * LLI - temp_tmp;

  if (temp < 0.0F) {

    temp = 0.0F;

  }



  localB->LKH = (real32_T)sqrt((real_T)temp);

  LLI = ((-temp_tmp + LLI * LLI) + localB->LKH * localB->LKH) / (2.0F *

    localB->LKH * LLI);

  if ((real32_T)fabs((real_T)LLI) > 1.0F) {

    LLI = 1.0F;

  }



  localB->xC = (real32_T)atan((real_T)((-rtu_measurements[3] - yI) /

    (-rtu_measurements[2] - localB->xC))) + (real32_T)fabs((real_T)

    dx_hand_model_my_acos(LLI, localB));

  yI = localB->xH - xD;

  LLI = localB->yH - yD;

  temp = (real32_T)sqrt((real_T)(yI * yI + LLI * LLI));

  localB->xH = (localB->xH - rtu_measurements[10] * (real32_T)sin((real_T)

    localB->qK)) - xD;

  localB->yH = (localB->yH - rtu_measurements[10] * (real32_T)cos((real_T)

    localB->qK)) - yD;

  LDG = (real32_T)sqrt((real_T)(localB->xH * localB->xH + localB->yH *

    localB->yH));

  xD1 = rtu_measurements[10] * rtu_measurements[10];

  localB->xH = ((-(temp * temp) + LDG * LDG) + xD1) / (2.0F * LDG *

    rtu_measurements[10]);

  if ((real32_T)fabs((real_T)localB->xH) > 1.0F) {

    localB->xH = 1.0F;

  }



  yH_tmp = rtu_measurements[11] * rtu_measurements[11];

  yH_tmp_0 = localB->LDF * localB->LDF;

  localB->yH = ((-yH_tmp_0 + LDG * LDG) + yH_tmp) / (2.0F * LDG *

    rtu_measurements[11]);

  if ((real32_T)fabs((real_T)localB->yH) > 1.0F) {

    localB->yH = 1.0F;

  }



  yI = -rtu_measurements[2] - rtu_measurements[1] * (real32_T)cos((real_T)

    localB->xC);

  LLI = -rtu_measurements[3] - rtu_measurements[1] * (real32_T)sin((real_T)

    localB->xC);

  xD1 = ((-xD1 + temp * temp) + LDG * LDG) / (2.0F * temp * LDG);

  if ((real32_T)fabs((real_T)xD1) > 1.0F) {

    xD1 = 1.0F;

  }



  localB->LDF = ((-yH_tmp + LDG * LDG) + yH_tmp_0) / (2.0F * LDG * localB->LDF);

  if ((real32_T)fabs((real_T)localB->LDF) > 1.0F) {

    localB->LDF = 1.0F;

  }



  localB->LBD = ((-(rtu_measurements[9] * rtu_measurements[9]) + temp * temp) +

                 localB->LBD * localB->LBD) / (2.0F * temp * localB->LBD);

  if ((real32_T)fabs((real_T)localB->LBD) > 1.0F) {

    localB->LBD = 1.0F;

  }



  localB->LBD = 3.14159274F - (((real32_T)fabs((real_T)dx_hand_model_my_acos(xD1,

    localB)) + (real32_T)fabs((real_T)dx_hand_model_my_acos(localB->LDF, localB)))

    + (real32_T)fabs((real_T)dx_hand_model_my_acos(localB->LBD, localB)));



  /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */

  xD = (xD - (real32_T)cos((real_T)((rtu_u_l - localB->LBD) - localB->qK)) *

        rtu_measurements[7]) + (real32_T)sin((real_T)((rtu_u_l - localB->LBD) -

    localB->qK)) * rtu_measurements[12];

  yD = (yD - (real32_T)sin((real_T)((rtu_u_l - localB->LBD) - localB->qK)) *

        rtu_measurements[7]) - (real32_T)cos((real_T)((rtu_u_l - localB->LBD) -

    localB->qK)) * rtu_measurements[12];

  localB->LDF = xD - yI;

  temp = yD - LLI;

  localB->LDF = (real32_T)sqrt((real_T)(localB->LDF * localB->LDF + temp * temp));

  temp = localB->LDF * localB->LDF - temp_tmp;

  if (temp < 0.0F) {

    temp = 0.0F;

  }



  temp = (real32_T)sqrt((real_T)temp);

  localB->LDF = ((-((rtu_measurements[0] + 13.5F) * (rtu_measurements[0] + 13.5F))

                  + localB->LDF * localB->LDF) + temp * temp) / (2.0F * temp *

    localB->LDF);

  if ((real32_T)fabs((real_T)localB->LDF) > 1.0F) {

    localB->LDF = 1.0F;

  }



  localB->y[0] = localB->xC;

  localB->y[1] = (rt_atan2f_snf(LLI - yD, yI - xD) + (real32_T)fabs((real_T)

    dx_hand_model_my_acos(localB->LDF, localB))) - localB->xC;

  localB->y[2] = localB->qK;

  localB->y[3] = localB->LBD;

  localB->y[4] = 3.14159274F - ((real32_T)fabs((real_T)dx_hand_model_my_acos

    (localB->xH, localB)) + (real32_T)fabs((real_T)dx_hand_model_my_acos

    (localB->yH, localB)));



  /* SignalConversion: '<S95>/TmpSignal ConversionAt SFunction Inport1' */

  localB->y[5] = dx_hand_model_my_acos(((-(localB->LAK * localB->LAK) +

    localB->LKN * localB->LKN) + a_tmp * a_tmp) / ((rtu_u + rtu_measurements[17])

    * 2.0F * localB->LKN), localB);

  localB->y[6] = localB->LKH;

  localB->y[7] = temp;

}



/*

 * Output and update for atomic system:

 *    '<S82>/Classic_Static_Problem'

 *    '<S129>/Classic_Static_Problem'

 *    '<S174>/Classic_Static_Problem'

 */

void dx_Classic_Static_Problem_d(const real32_T rtu_Jcomponents[4], real32_T

  rtu_force_vector, real32_T rtu_force_vector_p, B_Classic_Static_Problem_dx_k_T

  *localB)

{

  /* SignalConversion: '<S104>/TmpSignal ConversionAt SFunction Inport2' */

  localB->y = rtu_Jcomponents[0] * rtu_force_vector + rtu_Jcomponents[2] *

    rtu_force_vector_p;

}



/*

 * Output and update for atomic system:

 *    '<S84>/IsNan '

 *    '<S131>/IsNan '

 *    '<S176>/IsNan '

 */

void dx_hand_model_IsNan(const real32_T rtu_Jin[4], const real32_T rtu_J_k1[4],

  B_IsNan_dx_hand_model_T *localB)

{

  real32_T Jin;

  Jin = rtu_Jin[0];

  if (rtIsInfF(rtu_Jin[0]) || rtIsNaNF(rtu_Jin[0])) {

    Jin = rtu_J_k1[0];

  }



  localB->J[0] = Jin;

  Jin = rtu_Jin[1];

  if (rtIsInfF(rtu_Jin[1]) || rtIsNaNF(rtu_Jin[1])) {

    Jin = rtu_J_k1[1];

  }



  localB->J[1] = Jin;

  Jin = rtu_Jin[2];

  if (rtIsInfF(rtu_Jin[2]) || rtIsNaNF(rtu_Jin[2])) {

    Jin = rtu_J_k1[2];

  }



  localB->J[2] = Jin;

  Jin = rtu_Jin[3];

  if (rtIsInfF(rtu_Jin[3]) || rtIsNaNF(rtu_Jin[3])) {

    Jin = rtu_J_k1[3];

  }



  localB->J[3] = Jin;

}



/*

 * Output and update for atomic system:

 *    '<S242>/MATLAB Function1'

 *    '<S242>/MATLAB Function2'

 *    '<S243>/MATLAB Function'

 *    '<S243>/MATLAB Function1'

 *    '<S243>/MATLAB Function2'

 *    '<S233>/MATLAB Function2'

 */

void dx_hand_mod_MATLABFunction1(const real32_T rtu_u[4],

  B_MATLABFunction1_dx_hand_mod_T *localB)

{

  localB->x = rtu_u[0];

  localB->y = rtu_u[1];

  localB->z = rtu_u[2];

}



/*

 * Output and update for atomic system:

 *    '<S242>/MATLAB Function3'

 *    '<S233>/MATLAB Function1'

 *    '<S233>/MATLAB Function3'

 */

void dx_hand_mod_MATLABFunction3(const real32_T rtu_u[3],

  B_MATLABFunction3_dx_hand_mod_T *localB)

{

  localB->x = rtu_u[0];

  localB->y = rtu_u[1];

  localB->z = rtu_u[2];

}



/*

 * Output and update for atomic system:

 *    '<S233>/MATLAB Function4'

 *    '<S233>/MATLAB Function5'

 */

void dx_hand_m_MATLABFunction4_o(real32_T rtu_u, real32_T rtu_u_i, real32_T

  rtu_u_g, B_MATLABFunction4_dx_hand_m_c_T *localB)

{

  /* SignalConversion: '<S306>/TmpSignal ConversionAt SFunction Inport1' */

  localB->x = rtu_u;

  localB->y = rtu_u_i;

  localB->z = rtu_u_g;

}



static real32_T dx_hand_model_rt_hypotf_snf(real32_T u0, real32_T u1)

{

  real32_T y;

  dx_hand_model_B.a = (real32_T)fabs((real_T)u0);

  y = (real32_T)fabs((real_T)u1);

  if (dx_hand_model_B.a < y) {

    dx_hand_model_B.a /= y;

    y *= (real32_T)sqrt((real_T)(dx_hand_model_B.a * dx_hand_model_B.a + 1.0F));

  } else if (dx_hand_model_B.a > y) {

    y /= dx_hand_model_B.a;

    y = (real32_T)sqrt((real_T)(y * y + 1.0F)) * dx_hand_model_B.a;

  } else {

    if (!rtIsNaNF(y)) {

      y = dx_hand_model_B.a * 1.41421354F;

    }

  }



  return y;

}



/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */

static void dx_hand_model_sqrt_k(creal32_T *x)

{

  dx_hand_model_B.xr_m = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_f = 0.0F;

      dx_hand_model_B.xr_m = (real32_T)sqrt((real_T)-x->re);

    } else {

      dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)x->re);

      dx_hand_model_B.xr_m = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      dx_hand_model_B.xr_m = -dx_hand_model_B.absxr_f;

    } else {

      dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)(x->im / 2.0F));

      dx_hand_model_B.xr_m = dx_hand_model_B.absxr_f;

    }

  } else if (rtIsNaNF(x->re)) {

    dx_hand_model_B.absxr_f = x->re;

  } else if (rtIsNaNF(x->im)) {

    dx_hand_model_B.absxr_f = x->im;

    dx_hand_model_B.xr_m = x->im;

  } else if (rtIsInfF(x->im)) {

    dx_hand_model_B.absxr_f = (real32_T)fabs((real_T)x->im);

    dx_hand_model_B.xr_m = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_f = 0.0F;

      dx_hand_model_B.xr_m = x->im * -x->re;

    } else {

      dx_hand_model_B.absxr_f = x->re;

      dx_hand_model_B.xr_m = 0.0F;

    }

  } else {

    dx_hand_model_B.absxr_f = (real32_T)fabs((real_T)x->re);

    dx_hand_model_B.xr_m = (real32_T)fabs((real_T)x->im);

    if ((dx_hand_model_B.absxr_f > 8.50705867E+37F) || (dx_hand_model_B.xr_m >

         8.50705867E+37F)) {

      dx_hand_model_B.absxr_f *= 0.5F;

      dx_hand_model_B.xr_m = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_f,

        dx_hand_model_B.xr_m * 0.5F);

      if (dx_hand_model_B.xr_m > dx_hand_model_B.absxr_f) {

        dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)

          (dx_hand_model_B.absxr_f / dx_hand_model_B.xr_m + 1.0F)) * (real32_T)

          sqrt((real_T)dx_hand_model_B.xr_m);

      } else {

        dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)dx_hand_model_B.xr_m) *

          1.41421354F;

      }

    } else {

      dx_hand_model_B.absxr_f = (real32_T)sqrt((real_T)

        ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_f,

        dx_hand_model_B.xr_m) + dx_hand_model_B.absxr_f) * 0.5F));

    }



    if (x->re > 0.0F) {

      dx_hand_model_B.xr_m = x->im / dx_hand_model_B.absxr_f * 0.5F;

    } else {

      if (x->im < 0.0F) {

        dx_hand_model_B.xr_m = -dx_hand_model_B.absxr_f;

      } else {

        dx_hand_model_B.xr_m = dx_hand_model_B.absxr_f;

      }



      dx_hand_model_B.absxr_f = x->im / dx_hand_model_B.xr_m * 0.5F;

    }

  }



  x->re = dx_hand_model_B.absxr_f;

  x->im = dx_hand_model_B.xr_m;

}



/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */

static real32_T dx_hand_model_rescale_b(real32_T *re, real32_T *im)

{

  real32_T scale;

  scale = (real32_T)fabs((real_T)*re);

  dx_hand_model_B.absim_e = (real32_T)fabs((real_T)*im);

  if (scale > dx_hand_model_B.absim_e) {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    *im /= scale;

  } else if (dx_hand_model_B.absim_e > scale) {

    *re /= dx_hand_model_B.absim_e;

    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }



    scale = dx_hand_model_B.absim_e;

  } else {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }

  }



  return scale;

}



static real32_T dx_hand_model_rt_atan2f_snf(real32_T u0, real32_T u1)

{

  real32_T y;

  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

    y = (rtNaNF);

  } else if (rtIsInfF(u0) && rtIsInfF(u1)) {

    if (u0 > 0.0F) {

      dx_hand_model_B.u0_n = 1;

    } else {

      dx_hand_model_B.u0_n = -1;

    }



    if (u1 > 0.0F) {

      dx_hand_model_B.u1_p = 1;

    } else {

      dx_hand_model_B.u1_p = -1;

    }



    y = (real32_T)atan2((real_T)(real32_T)dx_hand_model_B.u0_n, (real_T)

                        (real32_T)dx_hand_model_B.u1_p);

  } else if (u1 == 0.0F) {

    if (u0 > 0.0F) {

      y = RT_PIF / 2.0F;

    } else if (u0 < 0.0F) {

      y = -(RT_PIF / 2.0F);

    } else {

      y = 0.0F;

    }

  } else {

    y = (real32_T)atan2((real_T)u0, (real_T)u1);

  }



  return y;

}



/* Function for MATLAB Function: '<S37>/Index Direct Kinematics' */

static real32_T dx_hand_model_my_acos_e(real32_T x)

{

  if (!((real32_T)fabs((real_T)x) > 1.0F)) {

    dx_hand_model_B.t.re = (real32_T)acos((real_T)x);

  } else {

    dx_hand_model_B.v_e.re = 1.0F + x;

    dx_hand_model_B.v_e.im = 0.0F;

    dx_hand_model_sqrt_k(&dx_hand_model_B.v_e);

    dx_hand_model_B.t.re = 1.0F - x;

    dx_hand_model_B.t.im = 0.0F;

    dx_hand_model_sqrt_k(&dx_hand_model_B.t);

    if (!((-dx_hand_model_B.v_e.im == 0.0F) && (dx_hand_model_B.t.im == 0.0F)))

    {

      dx_hand_model_B.b_ci_b = dx_hand_model_B.v_e.re * dx_hand_model_B.t.im +

        -dx_hand_model_B.v_e.im * dx_hand_model_B.t.re;

      if ((!((!rtIsInfF(dx_hand_model_B.b_ci_b)) && (!rtIsNaNF

             (dx_hand_model_B.b_ci_b)))) && (!rtIsNaNF(dx_hand_model_B.v_e.re)) &&

          (!rtIsNaNF(-dx_hand_model_B.v_e.im)) && (!rtIsNaNF

           (dx_hand_model_B.t.re)) && (!rtIsNaNF(dx_hand_model_B.t.im))) {

        dx_hand_model_B.b_ci_b = dx_hand_model_B.v_e.re;

        dx_hand_model_B.sai_g = -dx_hand_model_B.v_e.im;

        dx_hand_model_rescale_b(&dx_hand_model_B.b_ci_b, &dx_hand_model_B.sai_g);

        dx_hand_model_B.b_ci_b = dx_hand_model_B.t.re;

        dx_hand_model_B.sai_g = dx_hand_model_B.t.im;

        dx_hand_model_rescale_b(&dx_hand_model_B.b_ci_b, &dx_hand_model_B.sai_g);

      }

    }



    dx_hand_model_B.t.re = 2.0F * dx_hand_model_rt_atan2f_snf

      (dx_hand_model_B.t.re, dx_hand_model_B.v_e.re);

  }



  return dx_hand_model_B.t.re;

}



/* Function for MATLAB Function: '<S231>/get_Angles' */

static void dx_hand_model_sqrt_kq(creal32_T *x)

{

  dx_hand_model_B.xr_d = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_a = 0.0F;

      dx_hand_model_B.xr_d = (real32_T)sqrt((real_T)-x->re);

    } else {

      dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)x->re);

      dx_hand_model_B.xr_d = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      dx_hand_model_B.xr_d = -dx_hand_model_B.absxr_a;

    } else {

      dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)(x->im / 2.0F));

      dx_hand_model_B.xr_d = dx_hand_model_B.absxr_a;

    }

  } else if (rtIsNaNF(x->re)) {

    dx_hand_model_B.absxr_a = x->re;

  } else if (rtIsNaNF(x->im)) {

    dx_hand_model_B.absxr_a = x->im;

    dx_hand_model_B.xr_d = x->im;

  } else if (rtIsInfF(x->im)) {

    dx_hand_model_B.absxr_a = (real32_T)fabs((real_T)x->im);

    dx_hand_model_B.xr_d = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_a = 0.0F;

      dx_hand_model_B.xr_d = x->im * -x->re;

    } else {

      dx_hand_model_B.absxr_a = x->re;

      dx_hand_model_B.xr_d = 0.0F;

    }

  } else {

    dx_hand_model_B.absxr_a = (real32_T)fabs((real_T)x->re);

    dx_hand_model_B.xr_d = (real32_T)fabs((real_T)x->im);

    if ((dx_hand_model_B.absxr_a > 8.50705867E+37F) || (dx_hand_model_B.xr_d >

         8.50705867E+37F)) {

      dx_hand_model_B.absxr_a *= 0.5F;

      dx_hand_model_B.xr_d = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_a,

        dx_hand_model_B.xr_d * 0.5F);

      if (dx_hand_model_B.xr_d > dx_hand_model_B.absxr_a) {

        dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)

          (dx_hand_model_B.absxr_a / dx_hand_model_B.xr_d + 1.0F)) * (real32_T)

          sqrt((real_T)dx_hand_model_B.xr_d);

      } else {

        dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)dx_hand_model_B.xr_d) *

          1.41421354F;

      }

    } else {

      dx_hand_model_B.absxr_a = (real32_T)sqrt((real_T)

        ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_a,

        dx_hand_model_B.xr_d) + dx_hand_model_B.absxr_a) * 0.5F));

    }



    if (x->re > 0.0F) {

      dx_hand_model_B.xr_d = x->im / dx_hand_model_B.absxr_a * 0.5F;

    } else {

      if (x->im < 0.0F) {

        dx_hand_model_B.xr_d = -dx_hand_model_B.absxr_a;

      } else {

        dx_hand_model_B.xr_d = dx_hand_model_B.absxr_a;

      }



      dx_hand_model_B.absxr_a = x->im / dx_hand_model_B.xr_d * 0.5F;

    }

  }



  x->re = dx_hand_model_B.absxr_a;

  x->im = dx_hand_model_B.xr_d;

}



/* Function for MATLAB Function: '<S231>/get_Angles' */

static real32_T dx_hand_model_rescale_e(real32_T *re, real32_T *im)

{

  real32_T scale;

  scale = (real32_T)fabs((real_T)*re);

  dx_hand_model_B.absim_b = (real32_T)fabs((real_T)*im);

  if (scale > dx_hand_model_B.absim_b) {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    *im /= scale;

  } else if (dx_hand_model_B.absim_b > scale) {

    *re /= dx_hand_model_B.absim_b;

    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }



    scale = dx_hand_model_B.absim_b;

  } else {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }

  }



  return scale;

}



/* Function for MATLAB Function: '<S231>/get_Angles' */

static void dx_hand_model_acos(creal32_T *x)

{

  if ((x->im == 0.0F) && (!((real32_T)fabs((real_T)x->re) > 1.0F))) {

    x->re = (real32_T)acos((real_T)x->re);

    x->im = 0.0F;

  } else {

    dx_hand_model_B.v.re = 1.0F + x->re;

    dx_hand_model_B.v.im = x->im;

    dx_hand_model_sqrt_kq(&dx_hand_model_B.v);

    dx_hand_model_B.u.re = 1.0F - x->re;

    dx_hand_model_B.u.im = 0.0F - x->im;

    dx_hand_model_sqrt_kq(&dx_hand_model_B.u);

    if ((-dx_hand_model_B.v.im == 0.0F) && (dx_hand_model_B.u.im == 0.0F)) {

      dx_hand_model_B.b_ci = 0.0F;

    } else {

      dx_hand_model_B.b_ci_tmp = dx_hand_model_B.v.re * dx_hand_model_B.u.im;

      dx_hand_model_B.t4_c = -dx_hand_model_B.v.im * dx_hand_model_B.u.re;

      dx_hand_model_B.b_ci = dx_hand_model_B.b_ci_tmp + dx_hand_model_B.t4_c;

      if ((!((!rtIsInfF(dx_hand_model_B.b_ci)) && (!rtIsNaNF

             (dx_hand_model_B.b_ci)))) && (!rtIsNaNF(dx_hand_model_B.v.re)) && (

           !rtIsNaNF(-dx_hand_model_B.v.im)) && (!rtIsNaNF(dx_hand_model_B.u.re))

          && (!rtIsNaNF(dx_hand_model_B.u.im))) {

        dx_hand_model_B.sar = dx_hand_model_B.v.re;

        dx_hand_model_B.sai = -dx_hand_model_B.v.im;

        dx_hand_model_B.scaleA = dx_hand_model_rescale_e(&dx_hand_model_B.sar,

          &dx_hand_model_B.sai);

        dx_hand_model_B.sbr = dx_hand_model_B.u.re;

        dx_hand_model_B.sbi = dx_hand_model_B.u.im;

        dx_hand_model_B.scaleB = dx_hand_model_rescale_e(&dx_hand_model_B.sbr,

          &dx_hand_model_B.sbi);

        if ((!rtIsInfF(dx_hand_model_B.scaleA)) && (!rtIsNaNF

             (dx_hand_model_B.scaleA)) && ((!rtIsInfF(dx_hand_model_B.scaleB)) &&

             (!rtIsNaNF(dx_hand_model_B.scaleB)))) {

          dx_hand_model_B.xneg_j = true;

        } else {

          dx_hand_model_B.xneg_j = false;

        }



        if (rtIsNaNF(dx_hand_model_B.b_ci) || (rtIsInfF(dx_hand_model_B.b_ci) &&

             dx_hand_model_B.xneg_j)) {

          dx_hand_model_B.b_ci = dx_hand_model_B.sar * dx_hand_model_B.sbi +

            dx_hand_model_B.sai * dx_hand_model_B.sbr;

          if (dx_hand_model_B.b_ci != 0.0F) {

            dx_hand_model_B.b_ci = dx_hand_model_B.b_ci * dx_hand_model_B.scaleA

              * dx_hand_model_B.scaleB;

          } else {

            if ((rtIsInfF(dx_hand_model_B.scaleA) && ((dx_hand_model_B.u.re ==

                   0.0F) || (dx_hand_model_B.u.im == 0.0F))) || (rtIsInfF

                 (dx_hand_model_B.scaleB) && ((dx_hand_model_B.v.re == 0.0F) ||

                  (-dx_hand_model_B.v.im == 0.0F)))) {

              dx_hand_model_B.b_ci = dx_hand_model_B.b_ci_tmp;

              if (rtIsNaNF(dx_hand_model_B.b_ci_tmp)) {

                dx_hand_model_B.b_ci = 0.0F;

              }



              if (rtIsNaNF(dx_hand_model_B.t4_c)) {

                dx_hand_model_B.t4_c = 0.0F;

              }



              dx_hand_model_B.b_ci += dx_hand_model_B.t4_c;

            }

          }

        }

      }

    }



    dx_hand_model_B.xneg_j = (dx_hand_model_B.b_ci < 0.0F);

    if (dx_hand_model_B.xneg_j) {

      dx_hand_model_B.b_ci = -dx_hand_model_B.b_ci;

    }



    if (dx_hand_model_B.b_ci >= 2.68435456E+8F) {

      dx_hand_model_B.b_ci = (real32_T)log((real_T)dx_hand_model_B.b_ci) +

        0.693147182F;

    } else if (dx_hand_model_B.b_ci > 2.0F) {

      dx_hand_model_B.b_ci = (real32_T)log((real_T)(1.0F / ((real32_T)sqrt

        ((real_T)(dx_hand_model_B.b_ci * dx_hand_model_B.b_ci + 1.0F)) +

        dx_hand_model_B.b_ci) + 2.0F * dx_hand_model_B.b_ci));

    } else {

      dx_hand_model_B.b_ci_tmp = dx_hand_model_B.b_ci * dx_hand_model_B.b_ci;

      dx_hand_model_B.b_ci += dx_hand_model_B.b_ci_tmp / ((real32_T)sqrt((real_T)

        (1.0F + dx_hand_model_B.b_ci_tmp)) + 1.0F);

      dx_hand_model_B.t4_c = (real32_T)fabs((real_T)dx_hand_model_B.b_ci);

      if ((dx_hand_model_B.t4_c > 8.388608E+6F) || (!((!rtIsInfF

             (dx_hand_model_B.b_ci)) && (!rtIsNaNF(dx_hand_model_B.b_ci))))) {

        dx_hand_model_B.b_ci = (real32_T)log((real_T)(1.0F +

          dx_hand_model_B.b_ci));

      } else {

        if (!(dx_hand_model_B.t4_c < 1.1920929E-7F)) {

          dx_hand_model_B.b_ci = dx_hand_model_B.b_ci / ((1.0F +

            dx_hand_model_B.b_ci) - 1.0F) * (real32_T)log((real_T)(1.0F +

            dx_hand_model_B.b_ci));

        }

      }

    }



    if (dx_hand_model_B.xneg_j) {

      dx_hand_model_B.b_ci = -dx_hand_model_B.b_ci;

    }



    x->re = 2.0F * dx_hand_model_rt_atan2f_snf(dx_hand_model_B.u.re,

      dx_hand_model_B.v.re);

    x->im = dx_hand_model_B.b_ci;

  }

}



/* Function for MATLAB Function: '<S243>/MATLAB Function3' */

static void dx_hand_model_sqrt_l(creal32_T *x)

{

  dx_hand_model_B.xr_n = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_h = 0.0F;

      dx_hand_model_B.xr_n = (real32_T)sqrt((real_T)-x->re);

    } else {

      dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)x->re);

      dx_hand_model_B.xr_n = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      dx_hand_model_B.xr_n = -dx_hand_model_B.absxr_h;

    } else {

      dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)(x->im / 2.0F));

      dx_hand_model_B.xr_n = dx_hand_model_B.absxr_h;

    }

  } else if (rtIsNaNF(x->re)) {

    dx_hand_model_B.absxr_h = x->re;

  } else if (rtIsNaNF(x->im)) {

    dx_hand_model_B.absxr_h = x->im;

    dx_hand_model_B.xr_n = x->im;

  } else if (rtIsInfF(x->im)) {

    dx_hand_model_B.absxr_h = (real32_T)fabs((real_T)x->im);

    dx_hand_model_B.xr_n = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_h = 0.0F;

      dx_hand_model_B.xr_n = x->im * -x->re;

    } else {

      dx_hand_model_B.absxr_h = x->re;

      dx_hand_model_B.xr_n = 0.0F;

    }

  } else {

    dx_hand_model_B.absxr_h = (real32_T)fabs((real_T)x->re);

    dx_hand_model_B.xr_n = (real32_T)fabs((real_T)x->im);

    if ((dx_hand_model_B.absxr_h > 8.50705867E+37F) || (dx_hand_model_B.xr_n >

         8.50705867E+37F)) {

      dx_hand_model_B.absxr_h *= 0.5F;

      dx_hand_model_B.xr_n = dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_h,

        dx_hand_model_B.xr_n * 0.5F);

      if (dx_hand_model_B.xr_n > dx_hand_model_B.absxr_h) {

        dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)

          (dx_hand_model_B.absxr_h / dx_hand_model_B.xr_n + 1.0F)) * (real32_T)

          sqrt((real_T)dx_hand_model_B.xr_n);

      } else {

        dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)dx_hand_model_B.xr_n) *

          1.41421354F;

      }

    } else {

      dx_hand_model_B.absxr_h = (real32_T)sqrt((real_T)

        ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_h,

        dx_hand_model_B.xr_n) + dx_hand_model_B.absxr_h) * 0.5F));

    }



    if (x->re > 0.0F) {

      dx_hand_model_B.xr_n = x->im / dx_hand_model_B.absxr_h * 0.5F;

    } else {

      if (x->im < 0.0F) {

        dx_hand_model_B.xr_n = -dx_hand_model_B.absxr_h;

      } else {

        dx_hand_model_B.xr_n = dx_hand_model_B.absxr_h;

      }



      dx_hand_model_B.absxr_h = x->im / dx_hand_model_B.xr_n * 0.5F;

    }

  }



  x->re = dx_hand_model_B.absxr_h;

  x->im = dx_hand_model_B.xr_n;

}



/* Function for MATLAB Function: '<S242>/MATLAB Function' */

static void dx_hand_model_sqrt_e(creal32_T *x)

{

  dx_hand_model_B.xr_p = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_at = 0.0F;

      dx_hand_model_B.xr_p = (real32_T)sqrt((real_T)-x->re);

    } else {

      dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)x->re);

      dx_hand_model_B.xr_p = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      dx_hand_model_B.xr_p = -dx_hand_model_B.absxr_at;

    } else {

      dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)(x->im / 2.0F));

      dx_hand_model_B.xr_p = dx_hand_model_B.absxr_at;

    }

  } else if (rtIsNaNF(x->re)) {

    dx_hand_model_B.absxr_at = x->re;

  } else if (rtIsNaNF(x->im)) {

    dx_hand_model_B.absxr_at = x->im;

    dx_hand_model_B.xr_p = x->im;

  } else if (rtIsInfF(x->im)) {

    dx_hand_model_B.absxr_at = (real32_T)fabs((real_T)x->im);

    dx_hand_model_B.xr_p = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_at = 0.0F;

      dx_hand_model_B.xr_p = x->im * -x->re;

    } else {

      dx_hand_model_B.absxr_at = x->re;

      dx_hand_model_B.xr_p = 0.0F;

    }

  } else {

    dx_hand_model_B.absxr_at = (real32_T)fabs((real_T)x->re);

    dx_hand_model_B.xr_p = (real32_T)fabs((real_T)x->im);

    if ((dx_hand_model_B.absxr_at > 8.50705867E+37F) || (dx_hand_model_B.xr_p >

         8.50705867E+37F)) {

      dx_hand_model_B.absxr_at *= 0.5F;

      dx_hand_model_B.xr_p = dx_hand_model_rt_hypotf_snf

        (dx_hand_model_B.absxr_at, dx_hand_model_B.xr_p * 0.5F);

      if (dx_hand_model_B.xr_p > dx_hand_model_B.absxr_at) {

        dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)

          (dx_hand_model_B.absxr_at / dx_hand_model_B.xr_p + 1.0F)) * (real32_T)

          sqrt((real_T)dx_hand_model_B.xr_p);

      } else {

        dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)dx_hand_model_B.xr_p) *

          1.41421354F;

      }

    } else {

      dx_hand_model_B.absxr_at = (real32_T)sqrt((real_T)

        ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_at,

        dx_hand_model_B.xr_p) + dx_hand_model_B.absxr_at) * 0.5F));

    }



    if (x->re > 0.0F) {

      dx_hand_model_B.xr_p = x->im / dx_hand_model_B.absxr_at * 0.5F;

    } else {

      if (x->im < 0.0F) {

        dx_hand_model_B.xr_p = -dx_hand_model_B.absxr_at;

      } else {

        dx_hand_model_B.xr_p = dx_hand_model_B.absxr_at;

      }



      dx_hand_model_B.absxr_at = x->im / dx_hand_model_B.xr_p * 0.5F;

    }

  }



  x->re = dx_hand_model_B.absxr_at;

  x->im = dx_hand_model_B.xr_p;

}



/* Function for MATLAB Function: '<S233>/Mother of Kinematics' */

static creal_T dx_hand_model_my_sqrt(real_T x)

{

  creal_T y;

  if (x < 0.0) {

    dx_hand_model_B.absxr = 0.0;

    dx_hand_model_B.xr_f = sqrt(-x);

  } else {

    dx_hand_model_B.absxr = sqrt(x);

    dx_hand_model_B.xr_f = 0.0;

  }



  y.re = dx_hand_model_B.absxr;

  y.im = dx_hand_model_B.xr_f;

  return y;

}



static real_T dx_hand_model_rt_atan2d_snf(real_T u0, real_T u1)

{

  real_T y;

  if (rtIsNaN(u0) || rtIsNaN(u1)) {

    y = (rtNaN);

  } else if (rtIsInf(u0) && rtIsInf(u1)) {

    if (u0 > 0.0) {

      dx_hand_model_B.u0 = 1;

    } else {

      dx_hand_model_B.u0 = -1;

    }



    if (u1 > 0.0) {

      dx_hand_model_B.u1 = 1;

    } else {

      dx_hand_model_B.u1 = -1;

    }



    y = atan2((real_T)dx_hand_model_B.u0, (real_T)dx_hand_model_B.u1);

  } else if (u1 == 0.0) {

    if (u0 > 0.0) {

      y = RT_PI / 2.0;

    } else if (u0 < 0.0) {

      y = -(RT_PI / 2.0);

    } else {

      y = 0.0;

    }

  } else {

    y = atan2(u0, u1);

  }



  return y;

}



/* Function for MATLAB Function: '<S233>/Mother of Kinematics' */

static void dx_hand_model_atan(creal_T x[2])

{

  if (x[0].im == 0.0) {

    dx_hand_model_B.xi = atan(x[0].re);

    dx_hand_model_B.xr = 0.0;

  } else {

    dx_hand_model_B.xr = fabs(-x[0].im);

    dx_hand_model_B.xi = fabs(x[0].re);

    if ((dx_hand_model_B.xr > 3.3519519824856489E+153) || (dx_hand_model_B.xi >

         3.3519519824856489E+153)) {

      if (dx_hand_model_B.xi == 0.0) {

        dx_hand_model_B.xr = 1.0 / dx_hand_model_B.xr;

      } else if (dx_hand_model_B.xr == 0.0) {

        dx_hand_model_B.xr = 0.0;

      } else if (dx_hand_model_B.xr > dx_hand_model_B.xi) {

        dx_hand_model_B.b_t = dx_hand_model_B.xi / dx_hand_model_B.xr;

        dx_hand_model_B.xr = (dx_hand_model_B.b_t * 0.0 + 1.0) /

          (dx_hand_model_B.b_t * dx_hand_model_B.xi + dx_hand_model_B.xr);

      } else if (dx_hand_model_B.xi == dx_hand_model_B.xr) {

        dx_hand_model_B.xr = ((dx_hand_model_B.xi > 0.0 ? 0.5 : -0.5) * 0.0 +

                              (dx_hand_model_B.xr > 0.0 ? 0.5 : -0.5)) /

          dx_hand_model_B.xr;

      } else {

        dx_hand_model_B.b_t = dx_hand_model_B.xr / dx_hand_model_B.xi;

        dx_hand_model_B.xr = dx_hand_model_B.b_t / (dx_hand_model_B.b_t *

          dx_hand_model_B.xr + dx_hand_model_B.xi);

      }



      dx_hand_model_B.xi = 1.5707963267948966;

    } else if ((dx_hand_model_B.xr == 1.0) && (dx_hand_model_B.xi == 0.0)) {

      dx_hand_model_B.xr = (rtInf);

    } else if (dx_hand_model_B.xr == 1.0) {

      dx_hand_model_B.xr = log(sqrt(sqrt(dx_hand_model_B.xi * dx_hand_model_B.xi

        + 4.0)) / sqrt(dx_hand_model_B.xi + 2.9833362924800834E-154));

      dx_hand_model_B.xi = (atan((dx_hand_model_B.xi + 2.9833362924800834E-154) /

        2.0) + 1.5707963267948966) / 2.0;

    } else if ((dx_hand_model_B.xi == 0.0) && (!(dx_hand_model_B.xr > 1.0))) {

      if (dx_hand_model_B.xr < 0.5) {

        dx_hand_model_B.b_t = dx_hand_model_B.xr + dx_hand_model_B.xr;

        dx_hand_model_B.xr = dx_hand_model_B.xr / (1.0 - dx_hand_model_B.xr) *

          dx_hand_model_B.b_t + dx_hand_model_B.b_t;

        if (!(dx_hand_model_B.xr < 2.2204460492503131E-16)) {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }



        dx_hand_model_B.xr /= 2.0;

      } else if (dx_hand_model_B.xr == 1.0) {

        dx_hand_model_B.xr = (rtInf);

      } else {

        dx_hand_model_B.xr = (dx_hand_model_B.xr + dx_hand_model_B.xr) / (1.0 -

          dx_hand_model_B.xr);

        if ((dx_hand_model_B.xr > 4.503599627370496E+15) || rtIsNaN

            (dx_hand_model_B.xr)) {

          dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);

        } else {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }



        dx_hand_model_B.xr /= 2.0;

      }

    } else {

      dx_hand_model_B.b_t = dx_hand_model_B.xi + 2.9833362924800834E-154;

      dx_hand_model_B.xi = dx_hand_model_rt_atan2d_snf(2.0 * dx_hand_model_B.xi,

        (1.0 - dx_hand_model_B.xr) * (1.0 + dx_hand_model_B.xr) -

        (dx_hand_model_B.xi + 2.9833362924800834E-154) * (dx_hand_model_B.xi +

        2.9833362924800834E-154)) / 2.0;

      dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 - dx_hand_model_B.xr) *

        (1.0 - dx_hand_model_B.xr) + dx_hand_model_B.b_t * dx_hand_model_B.b_t) *

        4.0;

      dx_hand_model_B.b_t = fabs(dx_hand_model_B.xr);

      if ((dx_hand_model_B.b_t > 4.503599627370496E+15) || (!((!rtIsInf

             (dx_hand_model_B.xr)) && (!rtIsNaN(dx_hand_model_B.xr))))) {

        dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);

      } else {

        if (!(dx_hand_model_B.b_t < 2.2204460492503131E-16)) {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }

      }



      dx_hand_model_B.xr /= 4.0;

    }



    if (-x[0].im < 0.0) {

      dx_hand_model_B.xr = -dx_hand_model_B.xr;

    }



    if ((x[0].re < 0.0) || ((x[0].re == 0.0) && (-x[0].im < -1.0))) {

      dx_hand_model_B.xi = -dx_hand_model_B.xi;

    }



    dx_hand_model_B.xr = -dx_hand_model_B.xr;

  }



  x[0].re = dx_hand_model_B.xi;

  x[0].im = dx_hand_model_B.xr;

  if (x[1].im == 0.0) {

    dx_hand_model_B.xi = atan(x[1].re);

    dx_hand_model_B.xr = 0.0;

  } else {

    dx_hand_model_B.xr = fabs(-x[1].im);

    dx_hand_model_B.xi = fabs(x[1].re);

    if ((dx_hand_model_B.xr > 3.3519519824856489E+153) || (dx_hand_model_B.xi >

         3.3519519824856489E+153)) {

      if (dx_hand_model_B.xi == 0.0) {

        dx_hand_model_B.xr = 1.0 / dx_hand_model_B.xr;

      } else if (dx_hand_model_B.xr == 0.0) {

        dx_hand_model_B.xr = 0.0;

      } else if (dx_hand_model_B.xr > dx_hand_model_B.xi) {

        dx_hand_model_B.b_t = dx_hand_model_B.xi / dx_hand_model_B.xr;

        dx_hand_model_B.xr = (dx_hand_model_B.b_t * 0.0 + 1.0) /

          (dx_hand_model_B.b_t * dx_hand_model_B.xi + dx_hand_model_B.xr);

      } else if (dx_hand_model_B.xi == dx_hand_model_B.xr) {

        dx_hand_model_B.xr = ((dx_hand_model_B.xi > 0.0 ? 0.5 : -0.5) * 0.0 +

                              (dx_hand_model_B.xr > 0.0 ? 0.5 : -0.5)) /

          dx_hand_model_B.xr;

      } else {

        dx_hand_model_B.b_t = dx_hand_model_B.xr / dx_hand_model_B.xi;

        dx_hand_model_B.xr = dx_hand_model_B.b_t / (dx_hand_model_B.b_t *

          dx_hand_model_B.xr + dx_hand_model_B.xi);

      }



      dx_hand_model_B.xi = 1.5707963267948966;

    } else if ((dx_hand_model_B.xr == 1.0) && (dx_hand_model_B.xi == 0.0)) {

      dx_hand_model_B.xr = (rtInf);

    } else if (dx_hand_model_B.xr == 1.0) {

      dx_hand_model_B.xr = log(sqrt(sqrt(dx_hand_model_B.xi * dx_hand_model_B.xi

        + 4.0)) / sqrt(dx_hand_model_B.xi + 2.9833362924800834E-154));

      dx_hand_model_B.xi = (atan((dx_hand_model_B.xi + 2.9833362924800834E-154) /

        2.0) + 1.5707963267948966) / 2.0;

    } else if ((dx_hand_model_B.xi == 0.0) && (!(dx_hand_model_B.xr > 1.0))) {

      if (dx_hand_model_B.xr < 0.5) {

        dx_hand_model_B.b_t = dx_hand_model_B.xr + dx_hand_model_B.xr;

        dx_hand_model_B.xr = dx_hand_model_B.xr / (1.0 - dx_hand_model_B.xr) *

          dx_hand_model_B.b_t + dx_hand_model_B.b_t;

        if (!(dx_hand_model_B.xr < 2.2204460492503131E-16)) {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }



        dx_hand_model_B.xr /= 2.0;

      } else if (dx_hand_model_B.xr == 1.0) {

        dx_hand_model_B.xr = (rtInf);

      } else {

        dx_hand_model_B.xr = (dx_hand_model_B.xr + dx_hand_model_B.xr) / (1.0 -

          dx_hand_model_B.xr);

        if ((dx_hand_model_B.xr > 4.503599627370496E+15) || rtIsNaN

            (dx_hand_model_B.xr)) {

          dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);

        } else {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }



        dx_hand_model_B.xr /= 2.0;

      }

    } else {

      dx_hand_model_B.b_t = dx_hand_model_B.xi + 2.9833362924800834E-154;

      dx_hand_model_B.xi = dx_hand_model_rt_atan2d_snf(2.0 * dx_hand_model_B.xi,

        (1.0 - dx_hand_model_B.xr) * (1.0 + dx_hand_model_B.xr) -

        (dx_hand_model_B.xi + 2.9833362924800834E-154) * (dx_hand_model_B.xi +

        2.9833362924800834E-154)) / 2.0;

      dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 - dx_hand_model_B.xr) *

        (1.0 - dx_hand_model_B.xr) + dx_hand_model_B.b_t * dx_hand_model_B.b_t) *

        4.0;

      dx_hand_model_B.b_t = fabs(dx_hand_model_B.xr);

      if ((dx_hand_model_B.b_t > 4.503599627370496E+15) || (!((!rtIsInf

             (dx_hand_model_B.xr)) && (!rtIsNaN(dx_hand_model_B.xr))))) {

        dx_hand_model_B.xr = log(1.0 + dx_hand_model_B.xr);

      } else {

        if (!(dx_hand_model_B.b_t < 2.2204460492503131E-16)) {

          dx_hand_model_B.xr = dx_hand_model_B.xr / ((1.0 + dx_hand_model_B.xr)

            - 1.0) * log(1.0 + dx_hand_model_B.xr);

        }

      }



      dx_hand_model_B.xr /= 4.0;

    }



    if (-x[1].im < 0.0) {

      dx_hand_model_B.xr = -dx_hand_model_B.xr;

    }



    if ((x[1].re < 0.0) || ((x[1].re == 0.0) && (-x[1].im < -1.0))) {

      dx_hand_model_B.xi = -dx_hand_model_B.xi;

    }



    dx_hand_model_B.xr = -dx_hand_model_B.xr;

  }



  x[1].re = dx_hand_model_B.xi;

  x[1].im = dx_hand_model_B.xr;

}



/* Function for MATLAB Function: '<S233>/Teorema Coseni' */

static void dx_hand_model_sqrt_c(creal32_T *x)

{

  dx_hand_model_B.xr_fb = x->re;

  if (x->im == 0.0F) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_c = 0.0F;

      dx_hand_model_B.xr_fb = (real32_T)sqrt((real_T)-x->re);

    } else {

      dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)x->re);

      dx_hand_model_B.xr_fb = 0.0F;

    }

  } else if (x->re == 0.0F) {

    if (x->im < 0.0F) {

      dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)(-x->im / 2.0F));

      dx_hand_model_B.xr_fb = -dx_hand_model_B.absxr_c;

    } else {

      dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)(x->im / 2.0F));

      dx_hand_model_B.xr_fb = dx_hand_model_B.absxr_c;

    }

  } else if (rtIsNaNF(x->re)) {

    dx_hand_model_B.absxr_c = x->re;

  } else if (rtIsNaNF(x->im)) {

    dx_hand_model_B.absxr_c = x->im;

    dx_hand_model_B.xr_fb = x->im;

  } else if (rtIsInfF(x->im)) {

    dx_hand_model_B.absxr_c = (real32_T)fabs((real_T)x->im);

    dx_hand_model_B.xr_fb = x->im;

  } else if (rtIsInfF(x->re)) {

    if (x->re < 0.0F) {

      dx_hand_model_B.absxr_c = 0.0F;

      dx_hand_model_B.xr_fb = x->im * -x->re;

    } else {

      dx_hand_model_B.absxr_c = x->re;

      dx_hand_model_B.xr_fb = 0.0F;

    }

  } else {

    dx_hand_model_B.absxr_c = (real32_T)fabs((real_T)x->re);

    dx_hand_model_B.xr_fb = (real32_T)fabs((real_T)x->im);

    if ((dx_hand_model_B.absxr_c > 8.50705867E+37F) || (dx_hand_model_B.xr_fb >

         8.50705867E+37F)) {

      dx_hand_model_B.absxr_c *= 0.5F;

      dx_hand_model_B.xr_fb = dx_hand_model_rt_hypotf_snf

        (dx_hand_model_B.absxr_c, dx_hand_model_B.xr_fb * 0.5F);

      if (dx_hand_model_B.xr_fb > dx_hand_model_B.absxr_c) {

        dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)

          (dx_hand_model_B.absxr_c / dx_hand_model_B.xr_fb + 1.0F)) * (real32_T)

          sqrt((real_T)dx_hand_model_B.xr_fb);

      } else {

        dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)dx_hand_model_B.xr_fb) *

          1.41421354F;

      }

    } else {

      dx_hand_model_B.absxr_c = (real32_T)sqrt((real_T)

        ((dx_hand_model_rt_hypotf_snf(dx_hand_model_B.absxr_c,

        dx_hand_model_B.xr_fb) + dx_hand_model_B.absxr_c) * 0.5F));

    }



    if (x->re > 0.0F) {

      dx_hand_model_B.xr_fb = x->im / dx_hand_model_B.absxr_c * 0.5F;

    } else {

      if (x->im < 0.0F) {

        dx_hand_model_B.xr_fb = -dx_hand_model_B.absxr_c;

      } else {

        dx_hand_model_B.xr_fb = dx_hand_model_B.absxr_c;

      }



      dx_hand_model_B.absxr_c = x->im / dx_hand_model_B.xr_fb * 0.5F;

    }

  }



  x->re = dx_hand_model_B.absxr_c;

  x->im = dx_hand_model_B.xr_fb;

}



/* Function for MATLAB Function: '<S233>/Teorema Coseni' */

static real32_T dx_hand_model_rescale_g(real32_T *re, real32_T *im)

{

  real32_T scale;

  scale = (real32_T)fabs((real_T)*re);

  dx_hand_model_B.absim = (real32_T)fabs((real_T)*im);

  if (scale > dx_hand_model_B.absim) {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    *im /= scale;

  } else if (dx_hand_model_B.absim > scale) {

    *re /= dx_hand_model_B.absim;

    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }



    scale = dx_hand_model_B.absim;

  } else {

    if (*re < 0.0F) {

      *re = -1.0F;

    } else {

      *re = 1.0F;

    }



    if (*im < 0.0F) {

      *im = -1.0F;

    } else {

      *im = 1.0F;

    }

  }



  return scale;

}



/* Model step function for TID0 */

void dx_hand_model_step0(void)         /* Sample time: [0.01s, 0.0s] */

{

  int_T tid = 0;

  char_T *sErr;

  static const int8_T b[4] = { 0, 0, 0, 1 };



  static const real32_T c[16] = { 0.0F, -1.0F, 0.0F, 0.0F, 0.0F, 0.0F, -1.0F,

    0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 33.5857F, -91.0F, 0.0F, 1.0F };



  static const int8_T d[4] = { 0, 0, 0, 1 };



  static const real32_T e[4] = { 0.0F, 1.0F, 6.12323426E-17F, 0.0F };



  static const int8_T f[4] = { 0, 0, 1, 0 };



  static const real32_T g[4] = { 0.0F, -1.0F, 6.12323426E-17F, 0.0F };



  static const char_T b_0[24] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'T', 'h', 'u', 'm', 'b', '_', 'F', 'l', 'e', 'x', 'i', 'o', 'n' };



  static const char_T c_0[27] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'T', 'h', 'u', 'm', 'b', '_', 'O', 'p', 'p', 'o', 's', 'i', 't',

    'i', 'o', 'n' };



  static const char_T d_0[30] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'I', 'n', 'd', 'e', 'x', '_', 'F', 'i', 'n', 'g', 'e', 'r', '_',

    'D', 'i', 's', 't', 'a', 'l' };



  static const char_T e_0[32] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'I', 'n', 'd', 'e', 'x', '_', 'F', 'i', 'n', 'g', 'e', 'r', '_',

    'P', 'r', 'o', 'x', 'i', 'm', 'a', 'l' };



  static const char_T f_0[31] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'M', 'i', 'd', 'd', 'l', 'e', '_', 'F', 'i', 'n', 'g', 'e', 'r',

    '_', 'D', 'i', 's', 't', 'a', 'l' };



  static const char_T g_0[33] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n',

    'd', '_', 'M', 'i', 'd', 'd', 'l', 'e', '_', 'F', 'i', 'n', 'g', 'e', 'r',

    '_', 'P', 'r', 'o', 'x', 'i', 'm', 'a', 'l' };



  static const char_T h[22] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',

    '_', 'R', 'i', 'n', 'g', '_', 'F', 'i', 'n', 'g', 'e', 'r' };



  static const char_T i[16] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',

    '_', 'P', 'i', 'n', 'k', 'y' };



  static const char_T j[24] = { 'r', 'i', 'g', 'h', 't', '_', 'h', 'a', 'n', 'd',

    '_', 'F', 'i', 'n', 'g', 'e', 'r', '_', 'S', 'p', 'r', 'e', 'a', 'd' };



  boolean_T exitg1;



  {                                    /* Sample time: [0.01s, 0.0s] */

    rate_monotonic_scheduler();

  }



  /* RateTransition: '<S33>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition = dx_hand_model_DW.RateTransition_Buffer0;

  }



  /* End of RateTransition: '<S33>/Rate Transition' */



  /* DataTypeConversion: '<S33>/Data Type Conversion1' */

  dx_hand_model_B.Switch_n = (real32_T)dx_hand_model_B.RateTransition;



  /* DiscreteTransferFcn: '<S39>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef[1] *

      dx_hand_model_DW.Filt4_states[dx_hand_model_B.k];

    dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S39>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_g = dx_hand_model_DW.RateTransition_Buffer0_p;

  }



  /* End of RateTransition: '<S39>/Rate Transition' */



  /* DataTypeConversion: '<S39>/Data Type Conversion1' */

  dx_hand_model_B.Product_k = (real32_T)dx_hand_model_B.RateTransition_g;



  /* S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */

  sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

  dx_hand_model_B.k = 108;

  LibOutputs_Network(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U],

                     &dx_hand_model_B.ReceivefromHaptics_o1[0U],

                     &dx_hand_model_B.k);

  if (*sErr != 0) {

    rtmSetErrorStatus(dx_hand_model_M, sErr);

    rtmSetStopRequested(dx_hand_model_M, 1);

  }



  dx_hand_model_B.ReceivefromHaptics_o2 = (uint16_T)dx_hand_model_B.k;



  /* S-Function (byte2any): '<S4>/Byte Unpack' */



  /* Unpack: <S4>/Byte Unpack */

  (void) memcpy(&dx_hand_model_B.ByteUnpack[0],

                &dx_hand_model_B.ReceivefromHaptics_o1[0],

                108);



  /* RateTransition: '<S4>/Rate Transition1' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition1 = dx_hand_model_DW.RateTransition1_Buffer0;

  }



  /* End of RateTransition: '<S4>/Rate Transition1' */



  /* Delay: '<S4>/Delay' incorporates:

   *  DataTypeConversion: '<S4>/Data Type Conversion6'

   */

  if (((real32_T)dx_hand_model_B.RateTransition1 < 1.0F) || rtIsNaNF((real32_T)

       dx_hand_model_B.RateTransition1)) {

    memcpy(&dx_hand_model_B.Delay_m[0], &dx_hand_model_B.ByteUnpack[0], 27U *

           sizeof(real32_T));

  } else {

    if ((real32_T)dx_hand_model_B.RateTransition1 > 100.0F) {

      dx_hand_model_B.u0_i = 100U;

    } else {

      if ((real32_T)dx_hand_model_B.RateTransition1 < 0.0F) {

        dx_hand_model_B.t4_o = (real32_T)ceil((real_T)(real32_T)

          dx_hand_model_B.RateTransition1);

      } else {

        dx_hand_model_B.t4_o = (real32_T)floor((real_T)(real32_T)

          dx_hand_model_B.RateTransition1);

      }



      if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {

        dx_hand_model_B.t4_o = 0.0F;

      } else {

        dx_hand_model_B.t4_o = (real32_T)fmod((real_T)dx_hand_model_B.t4_o,

          4.294967296E+9);

      }



      dx_hand_model_B.u0_i = dx_hand_model_B.t4_o < 0.0F ? (uint32_T)-(int32_T)

        (uint32_T)-dx_hand_model_B.t4_o : (uint32_T)dx_hand_model_B.t4_o;

    }



    dx_hand_model_B.i = (int32_T)(100U - dx_hand_model_B.u0_i) * 27;

    memcpy(&dx_hand_model_B.Delay_m[0],

           &dx_hand_model_DW.Delay_DSTATE[dx_hand_model_B.i], 27U * sizeof

           (real32_T));

  }



  /* End of Delay: '<S4>/Delay' */



  /* Gain: '<S55>/Gain  Aggiustato' */

  dx_hand_model_B.Saturation3 = dx_hand_model_P.GainAggiustato_Gain_b *

    dx_hand_model_B.Delay_m[8];



  /* Saturate: '<S37>/Saturation3' */

  if (dx_hand_model_B.Saturation3 > dx_hand_model_P.Saturation3_UpperSat_h) {

    dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation3_UpperSat_h;

  } else {

    if (dx_hand_model_B.Saturation3 < dx_hand_model_P.Saturation3_LowerSat_g) {

      dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation3_LowerSat_g;

    }

  }



  /* End of Saturate: '<S37>/Saturation3' */



  /* RateTransition: '<S50>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_f = dx_hand_model_DW.RateTransition_Buffer0_j;

  }



  /* End of RateTransition: '<S50>/Rate Transition' */



  /* Sum: '<S50>/Sum4' incorporates:

   *  Constant: '<S50>/Constant4'

   *  DataTypeConversion: '<S50>/Data Type Conversion1'

   *  Gain: '<S50>/Gain Aggiustato1'

   *  Sum: '<S50>/Sum3'

   */

  dx_hand_model_B.Saturation2 = dx_hand_model_P.Constant4_Value_o -

    (dx_hand_model_B.Delay_m[13] - (real32_T)dx_hand_model_B.RateTransition_f) *

    dx_hand_model_P.GainAggiustato1_Gain;



  /* Saturate: '<S37>/Saturation2' */

  if (dx_hand_model_B.Saturation2 > dx_hand_model_P.Saturation2_UpperSat_lj) {

    dx_hand_model_B.Saturation2 = dx_hand_model_P.Saturation2_UpperSat_lj;

  } else {

    if (dx_hand_model_B.Saturation2 < dx_hand_model_P.Saturation2_LowerSat_k) {

      dx_hand_model_B.Saturation2 = dx_hand_model_P.Saturation2_LowerSat_k;

    }

  }



  /* End of Saturate: '<S37>/Saturation2' */



  /* RateTransition: '<S37>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {

      dx_hand_model_B.RateTransition_a[dx_hand_model_B.i] =

        dx_hand_model_DW.RateTransition_Buffer0_e[dx_hand_model_B.i];

    }

  }



  /* End of RateTransition: '<S37>/Rate Transition' */



  /* MATLAB Function: '<S52>/Index Parameters' */

  dx_hand_model_B.y_m[0] = dx_hand_model_B.RateTransition_a[0];

  dx_hand_model_B.y_m[1] = dx_hand_model_B.RateTransition_a[1];

  dx_hand_model_B.y_m[2] = dx_hand_model_B.RateTransition_a[2];

  dx_hand_model_B.y_m[3] = dx_hand_model_B.RateTransition_a[3];

  dx_hand_model_B.y_m[4] = 18.0;

  dx_hand_model_B.y_m[5] = 43.0;

  dx_hand_model_B.y_m[6] = 9.0;

  dx_hand_model_B.y_m[7] = 40.0;

  dx_hand_model_B.y_m[8] = 27.0;

  dx_hand_model_B.y_m[9] = 37.0;

  dx_hand_model_B.y_m[10] = 86.0;

  dx_hand_model_B.y_m[11] = 46.0;

  dx_hand_model_B.y_m[12] = 39.0;

  dx_hand_model_B.y_m[13] = 14.1;

  dx_hand_model_B.y_m[14] = 35.0;

  dx_hand_model_B.y_m[15] = 37.75;

  dx_hand_model_B.y_m[16] = 147.5;

  dx_hand_model_B.y_m[17] = 122.0;



  /* DataTypeConversion: '<S52>/Data Type Conversion1' */

  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {

    dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)

      dx_hand_model_B.y_m[dx_hand_model_B.i];

  }



  /* End of DataTypeConversion: '<S52>/Data Type Conversion1' */



  /* MATLAB Function: '<S37>/Index Direct Kinematics' incorporates:

   *  MATLAB Function: '<S36>/Jacobian'

   *  SignalConversion: '<S51>/TmpSignal ConversionAt SFunction Inport1'

   */

  dx_hand_model_B.LKH = dx_hand_model_B.DataTypeConversion1_d[14] +

    dx_hand_model_B.DataTypeConversion1_d[9];

  dx_hand_model_B.LDF_tmp = dx_hand_model_B.DataTypeConversion1_d[7] +

    dx_hand_model_B.DataTypeConversion1_d[8];

  dx_hand_model_B.LBD = dx_hand_model_B.DataTypeConversion1_d[5] +

    dx_hand_model_B.DataTypeConversion1_d[6];

  dx_hand_model_B.LKN = (real32_T)sqrt((real_T)

    (dx_hand_model_B.DataTypeConversion1_d[16] *

     dx_hand_model_B.DataTypeConversion1_d[16] +

     dx_hand_model_B.DataTypeConversion1_d[15] *

     dx_hand_model_B.DataTypeConversion1_d[15]));

  dx_hand_model_B.qKN = (real32_T)atan((real_T)

    (dx_hand_model_B.DataTypeConversion1_d[15] /

     dx_hand_model_B.DataTypeConversion1_d[16]));

  dx_hand_model_B.LA1N = dx_hand_model_B.Saturation3 +

    dx_hand_model_B.DataTypeConversion1_d[17];

  dx_hand_model_B.LA2K = (real32_T)sqrt((real_T)

    ((dx_hand_model_B.DataTypeConversion1_d[14] *

      dx_hand_model_B.DataTypeConversion1_d[14] + 256.0F) - 32.0F *

     dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

    dx_hand_model_B.Saturation2)));

  dx_hand_model_B.LA1K = (real32_T)sqrt((real_T)((dx_hand_model_B.LA2K *

    dx_hand_model_B.LA2K + 206.209595F) - (real32_T)cos((real_T)(2.00712872F -

    dx_hand_model_my_acos_e(((-(dx_hand_model_B.DataTypeConversion1_d[14] *

    dx_hand_model_B.DataTypeConversion1_d[14]) + 256.0F) + dx_hand_model_B.LA2K *

    dx_hand_model_B.LA2K) / (32.0F * dx_hand_model_B.LA2K)))) * (28.72F *

    dx_hand_model_B.LA2K)));

  dx_hand_model_B.LA2K = 3.14159274F - (((dx_hand_model_my_acos_e

    (((dx_hand_model_B.LA2K * dx_hand_model_B.LA2K + -256.0F) +

      dx_hand_model_B.DataTypeConversion1_d[14] *

      dx_hand_model_B.DataTypeConversion1_d[14]) / (2.0F * dx_hand_model_B.LA2K *

    dx_hand_model_B.DataTypeConversion1_d[14])) + dx_hand_model_my_acos_e

    (((-(dx_hand_model_B.LA1N * dx_hand_model_B.LA1N) + dx_hand_model_B.LA1K *

       dx_hand_model_B.LA1K) + dx_hand_model_B.LKN * dx_hand_model_B.LKN) /

     (2.0F * dx_hand_model_B.LA1K * dx_hand_model_B.LKN))) +

    dx_hand_model_my_acos_e(((dx_hand_model_B.LA2K * dx_hand_model_B.LA2K +

    -206.209595F) + dx_hand_model_B.LA1K * dx_hand_model_B.LA1K) / (2.0F *

    dx_hand_model_B.LA2K * dx_hand_model_B.LA1K))) + dx_hand_model_B.qKN);

  dx_hand_model_B.xH = -dx_hand_model_B.LKH * (real32_T)cos((real_T)

    dx_hand_model_B.LA2K);

  dx_hand_model_B.yH = dx_hand_model_B.LKH * (real32_T)sin((real_T)

    dx_hand_model_B.LA2K);

  dx_hand_model_B.xC = -dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)

    cos((real_T)dx_hand_model_B.LA2K) - (real32_T)cos((real_T)

    (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *

    dx_hand_model_B.DataTypeConversion1_d[5];

  dx_hand_model_B.LKH = dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)

    sin((real_T)dx_hand_model_B.LA2K) - (real32_T)sin((real_T)

    (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *

    dx_hand_model_B.DataTypeConversion1_d[5];

  dx_hand_model_B.xD = dx_hand_model_B.xC - (real32_T)cos((real_T)

    (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *

    dx_hand_model_B.DataTypeConversion1_d[6];

  dx_hand_model_B.yD = dx_hand_model_B.LKH - (real32_T)sin((real_T)

    (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *

    dx_hand_model_B.DataTypeConversion1_d[6];

  dx_hand_model_B.xC += (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

    dx_hand_model_B.LA2K)) * dx_hand_model_B.DataTypeConversion1_d[13];

  dx_hand_model_B.yI = dx_hand_model_B.LKH - (real32_T)cos((real_T)

    (dx_hand_model_B.Saturation2 - dx_hand_model_B.LA2K)) *

    dx_hand_model_B.DataTypeConversion1_d[13];

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.xC -

    (-dx_hand_model_B.DataTypeConversion1_d[2]);

  dx_hand_model_B.t1313 = dx_hand_model_B.yI -

    (-dx_hand_model_B.DataTypeConversion1_d[3]);

  dx_hand_model_B.LLI = (real32_T)sqrt((real_T)

    (dx_hand_model_B.DataTypeConversion5_n *

     dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t1313 *

     dx_hand_model_B.t1313));

  dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da =

    (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *

    (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F);

  dx_hand_model_B.temp = dx_hand_model_B.LLI * dx_hand_model_B.LLI -

    dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;

  if (dx_hand_model_B.temp < 0.0F) {

    dx_hand_model_B.LLI = 1.57079637F;

    dx_hand_model_B.LKH = 0.0F;

  } else {

    dx_hand_model_B.LKH = (real32_T)sqrt((real_T)dx_hand_model_B.temp);

    dx_hand_model_B.LLI = dx_hand_model_my_acos_e

      (((-((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *

           (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F)) +

         dx_hand_model_B.LLI * dx_hand_model_B.LLI) + dx_hand_model_B.LKH *

        dx_hand_model_B.LKH) / (2.0F * dx_hand_model_B.LKH * dx_hand_model_B.LLI));

  }



  dx_hand_model_B.xC = dx_hand_model_rt_atan2f_snf

    (-dx_hand_model_B.DataTypeConversion1_d[3] - dx_hand_model_B.yI,

     -dx_hand_model_B.DataTypeConversion1_d[2] - dx_hand_model_B.xC) +

    dx_hand_model_B.LLI;

  dx_hand_model_B.Sum_nf = dx_hand_model_B.xH - dx_hand_model_B.xD;

  dx_hand_model_B.t3 = dx_hand_model_B.yH - dx_hand_model_B.yD;

  dx_hand_model_B.temp = (real32_T)sqrt((real_T)(dx_hand_model_B.Sum_nf *

    dx_hand_model_B.Sum_nf + dx_hand_model_B.t3 * dx_hand_model_B.t3));

  dx_hand_model_B.t4_o = (dx_hand_model_B.xH -

    dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

    dx_hand_model_B.LA2K)) - dx_hand_model_B.xD;

  dx_hand_model_B.t7 = (dx_hand_model_B.yH -

                        dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)

                        cos((real_T)dx_hand_model_B.LA2K)) - dx_hand_model_B.yD;

  dx_hand_model_B.LDG = (real32_T)sqrt((real_T)(dx_hand_model_B.t4_o *

    dx_hand_model_B.t4_o + dx_hand_model_B.t7 * dx_hand_model_B.t7));

  dx_hand_model_B.LDF = dx_hand_model_B.DataTypeConversion1_d[10] *

    dx_hand_model_B.DataTypeConversion1_d[10];

  dx_hand_model_B.xH = ((-(dx_hand_model_B.temp * dx_hand_model_B.temp) +

    dx_hand_model_B.LDG * dx_hand_model_B.LDG) + dx_hand_model_B.LDF) / (2.0F *

    dx_hand_model_B.LDG * dx_hand_model_B.DataTypeConversion1_d[10]);

  if ((real32_T)fabs((real_T)dx_hand_model_B.xH) > 1.0F) {

    dx_hand_model_B.xH = 1.0F;

  }



  dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a =

    dx_hand_model_B.DataTypeConversion1_d[11] *

    dx_hand_model_B.DataTypeConversion1_d[11];

  dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.LDF_tmp;

  dx_hand_model_B.yH = ((-dx_hand_model_B.JTcomp_idx_3 + dx_hand_model_B.LDG *

    dx_hand_model_B.LDG) + dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a) /

    (2.0F * dx_hand_model_B.LDG * dx_hand_model_B.DataTypeConversion1_d[11]);

  if ((real32_T)fabs((real_T)dx_hand_model_B.yH) > 1.0F) {

    dx_hand_model_B.yH = 1.0F;

  }



  dx_hand_model_B.yI = -dx_hand_model_B.DataTypeConversion1_d[2] -

    dx_hand_model_B.DataTypeConversion1_d[1] * (real32_T)cos((real_T)

    dx_hand_model_B.xC);

  dx_hand_model_B.LLI = -dx_hand_model_B.DataTypeConversion1_d[3] -

    dx_hand_model_B.DataTypeConversion1_d[1] * (real32_T)sin((real_T)

    dx_hand_model_B.xC);

  dx_hand_model_B.xD1 = ((-dx_hand_model_B.LDF + dx_hand_model_B.temp *

    dx_hand_model_B.temp) + dx_hand_model_B.LDG * dx_hand_model_B.LDG) / (2.0F *

    dx_hand_model_B.temp * dx_hand_model_B.LDG);

  if ((real32_T)fabs((real_T)dx_hand_model_B.xD1) > 1.0F) {

    dx_hand_model_B.xD1 = 1.0F;

  }



  dx_hand_model_B.LDF = ((-dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a +

    dx_hand_model_B.LDG * dx_hand_model_B.LDG) + dx_hand_model_B.JTcomp_idx_3) /

    (2.0F * dx_hand_model_B.LDG * dx_hand_model_B.LDF_tmp);

  if ((real32_T)fabs((real_T)dx_hand_model_B.LDF) > 1.0F) {

    dx_hand_model_B.LDF = 1.0F;

  }



  dx_hand_model_B.LBD = ((-(dx_hand_model_B.DataTypeConversion1_d[9] *

    dx_hand_model_B.DataTypeConversion1_d[9]) + dx_hand_model_B.temp *

    dx_hand_model_B.temp) + dx_hand_model_B.LBD * dx_hand_model_B.LBD) / (2.0F *

    dx_hand_model_B.temp * dx_hand_model_B.LBD);

  if ((real32_T)fabs((real_T)dx_hand_model_B.LBD) > 1.0F) {

    dx_hand_model_B.LBD = 1.0F;

  }



  dx_hand_model_B.LBD = 3.14159274F - (((real32_T)fabs((real_T)

    dx_hand_model_my_acos_e(dx_hand_model_B.xD1)) + (real32_T)fabs((real_T)

    dx_hand_model_my_acos_e(dx_hand_model_B.LDF))) + (real32_T)fabs((real_T)

    dx_hand_model_my_acos_e(dx_hand_model_B.LBD)));

  dx_hand_model_B.xD = (dx_hand_model_B.xD - (real32_T)cos((real_T)

    ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))

                        * dx_hand_model_B.DataTypeConversion1_d[7]) + (real32_T)

    sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) -

                 dx_hand_model_B.LA2K)) * dx_hand_model_B.DataTypeConversion1_d

    [12];

  dx_hand_model_B.LDF = (dx_hand_model_B.yD - (real32_T)sin((real_T)

    ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))

    * dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)

    ((dx_hand_model_B.Saturation2 - dx_hand_model_B.LBD) - dx_hand_model_B.LA2K))

    * dx_hand_model_B.DataTypeConversion1_d[12];

  dx_hand_model_B.t3 = dx_hand_model_B.xD - dx_hand_model_B.yI;

  dx_hand_model_B.t4_o = dx_hand_model_B.LDF - dx_hand_model_B.LLI;

  dx_hand_model_B.xD1 = (real32_T)sqrt((real_T)(dx_hand_model_B.t3 *

    dx_hand_model_B.t3 + dx_hand_model_B.t4_o * dx_hand_model_B.t4_o));

  dx_hand_model_B.temp = dx_hand_model_B.xD1 * dx_hand_model_B.xD1 -

    dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;

  if (dx_hand_model_B.temp < 0.0F) {

    dx_hand_model_B.temp = 1.57079637F;

    dx_hand_model_B.yD = 0.0F;

  } else {

    dx_hand_model_B.yD = (real32_T)sqrt((real_T)dx_hand_model_B.temp);

    dx_hand_model_B.temp = dx_hand_model_my_acos_e

      (((-((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) *

           (dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F)) +

         dx_hand_model_B.xD1 * dx_hand_model_B.xD1) + dx_hand_model_B.yD *

        dx_hand_model_B.yD) / (2.0F * dx_hand_model_B.yD * dx_hand_model_B.xD1));

  }



  dx_hand_model_B.y_f[0] = dx_hand_model_B.xC;

  dx_hand_model_B.y_f[1] = (dx_hand_model_rt_atan2f_snf(dx_hand_model_B.LLI -

    dx_hand_model_B.LDF, dx_hand_model_B.yI - dx_hand_model_B.xD) +

    dx_hand_model_B.temp) - dx_hand_model_B.xC;

  dx_hand_model_B.y_f[2] = dx_hand_model_B.LA2K;

  dx_hand_model_B.y_f[3] = dx_hand_model_B.LBD;

  dx_hand_model_B.y_f[4] = 3.14159274F - ((real32_T)fabs((real_T)

    dx_hand_model_my_acos_e(dx_hand_model_B.xH)) + (real32_T)fabs((real_T)

    dx_hand_model_my_acos_e(dx_hand_model_B.yH)));

  dx_hand_model_B.y_f[5] = dx_hand_model_my_acos_e(((-(dx_hand_model_B.LA1K *

    dx_hand_model_B.LA1K) + dx_hand_model_B.LA1N * dx_hand_model_B.LA1N) +

    dx_hand_model_B.LKN * dx_hand_model_B.LKN) / (2.0F * dx_hand_model_B.LA1N *

    dx_hand_model_B.LKN)) - dx_hand_model_B.qKN;

  dx_hand_model_B.y_f[6] = dx_hand_model_B.LKH;

  dx_hand_model_B.y_f[7] = dx_hand_model_B.yD;



  /* MATLAB Function: '<S36>/Jacobian Optim ' incorporates:

   *  MATLAB Function: '<S36>/Jacobian'

   *  MATLAB Function: '<S37>/Index Direct Kinematics'

   *  SignalConversion: '<S49>/TmpSignal ConversionAt SFunction Inport2'

   */

  dx_hand_model_B.LKH /= 1000.0F;

  dx_hand_model_B.yD /= 1000.0F;

  dx_hand_model_B.LKN = dx_hand_model_B.DataTypeConversion1_d[5] / 1000.0F;

  dx_hand_model_B.qKN = dx_hand_model_B.DataTypeConversion1_d[6] / 1000.0F;

  dx_hand_model_B.LA1N = dx_hand_model_B.DataTypeConversion1_d[9] / 1000.0F;

  dx_hand_model_B.LA1K = dx_hand_model_B.DataTypeConversion1_d[13] / 1000.0F;

  dx_hand_model_B.LA2K = dx_hand_model_B.DataTypeConversion1_d[7] / 1000.0F;

  dx_hand_model_B.LBD = dx_hand_model_B.DataTypeConversion1_d[8] / 1000.0F;

  dx_hand_model_B.xD = dx_hand_model_B.DataTypeConversion1_d[12] / 1000.0F;

  dx_hand_model_B.LDF = dx_hand_model_B.DataTypeConversion1_d[10] / 1000.0F;

  dx_hand_model_B.xC = dx_hand_model_B.DataTypeConversion1_d[14] / 1000.0F;

  dx_hand_model_B.yH = dx_hand_model_B.DataTypeConversion1_d[0] / 1000.0F;

  dx_hand_model_B.xH = (real32_T)sin((real_T)dx_hand_model_B.y_f[5]);

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 = dx_hand_model_B.Saturation2 -

    dx_hand_model_B.y_f[2];

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = (real32_T)sin((real_T)

    dx_hand_model_B.y_f[2]);

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p = (real32_T)cos((real_T)

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1);

  dx_hand_model_B.temp = dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3];

  dx_hand_model_B.yI = dx_hand_model_B.temp - dx_hand_model_B.y_f[2];

  dx_hand_model_B.t13_b = (real32_T)cos((real_T)dx_hand_model_B.yI);

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = (real32_T)cos((real_T)

    dx_hand_model_B.y_f[2]);

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1);

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.LKN;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = (real32_T)sin((real_T)

    dx_hand_model_B.yI);

  dx_hand_model_B.LLI = dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2];

  dx_hand_model_B.xD1 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.LA2K;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = dx_hand_model_B.t13_b *

    dx_hand_model_B.LA2K;

  dx_hand_model_B.Saturation2_k = dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1];

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * dx_hand_model_B.qKN;

  dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.xD;

  dx_hand_model_B.LDG = (real32_T)cos((real_T)dx_hand_model_B.Saturation2_k);

  dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * dx_hand_model_B.LA1K;

  dx_hand_model_B.qKN *= dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.xD *= dx_hand_model_B.t13_b;

  dx_hand_model_B.Saturation2_k = (real32_T)sin((real_T)

    dx_hand_model_B.Saturation2_k);

  dx_hand_model_B.temp = (real32_T)cos((real_T)(dx_hand_model_B.temp -

    dx_hand_model_B.y_f[4]));

  dx_hand_model_B.Saturation2_e = dx_hand_model_B.LA2K + dx_hand_model_B.LBD;

  dx_hand_model_B.yI = (real32_T)sin((real_T)dx_hand_model_B.y_f[1]);

  dx_hand_model_B.Saturation4_f = (real32_T)cos((real_T)dx_hand_model_B.LLI);

  dx_hand_model_B.Saturation3_o = (real32_T)sin((real_T)dx_hand_model_B.LLI);

  dx_hand_model_B.LA2K = (real32_T)cos((real_T)dx_hand_model_B.y_f[0]);

  dx_hand_model_B.Sum_nf = dx_hand_model_B.xC *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.TSamp_cb = dx_hand_model_B.Sum_nf -

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

  dx_hand_model_B.TSamp_cm = dx_hand_model_B.TSamp_cb -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;

  dx_hand_model_B.Product_f = dx_hand_model_B.Saturation2_e * dx_hand_model_B.yI

    * dx_hand_model_B.temp;

  dx_hand_model_B.Sum1_h = dx_hand_model_B.TSamp_cm * dx_hand_model_B.Product_f;

  dx_hand_model_B.LKN *= dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p;

  dx_hand_model_B.TSamp_g = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.LA1K;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 =

    ((dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe - dx_hand_model_B.qKN) -

     dx_hand_model_B.xD1) - dx_hand_model_B.xD;

  dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.LBD;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = ((((dx_hand_model_B.LDF *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m - dx_hand_model_B.LA1N *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) -

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1) - dx_hand_model_B.qKN) -

    dx_hand_model_B.xD1) - dx_hand_model_B.t1313;

  dx_hand_model_B.t4_o = dx_hand_model_B.t13_b * dx_hand_model_B.LBD;

  dx_hand_model_B.t1309 = ((((dx_hand_model_B.LA1N *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m + dx_hand_model_B.LDF *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) - dx_hand_model_B.LKN) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) - dx_hand_model_B.t4_o;

  dx_hand_model_B.LA1N = dx_hand_model_B.t1309 * dx_hand_model_B.Saturation4_f +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.Saturation3_o;

  dx_hand_model_B.LBD = dx_hand_model_B.xD1 + dx_hand_model_B.xD;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.LBD *

    dx_hand_model_B.Saturation2_k;

  dx_hand_model_B.t27_m = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n -

    dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;

  dx_hand_model_B.LDF = ((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l +

    dx_hand_model_B.TSamp_g) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n)

    - dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j + dx_hand_model_B.t27_m *

    dx_hand_model_B.LDG;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = (dx_hand_model_B.LA1N *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g + (dx_hand_model_B.LDF *

    dx_hand_model_B.LDG - dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *

    dx_hand_model_B.Saturation2_k) * (dx_hand_model_B.temp *

    dx_hand_model_B.Saturation2_e)) * dx_hand_model_B.LA2K;

  dx_hand_model_B.LLI = dx_hand_model_B.Sum1_h -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t;



  /* SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2' incorporates:

   *  MATLAB Function: '<S36>/Jacobian'

   */

  dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da = dx_hand_model_B.Saturation3;

  dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a = dx_hand_model_B.Saturation2;



  /* MATLAB Function: '<S36>/Jacobian' incorporates:

   *  MATLAB Function: '<S36>/Jacobian Optim '

   *  SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2'

   *  UnitDelay: '<S36>/Unit Delay1'

   *  UnitDelay: '<S36>/Unit Delay3'

   */

  dx_hand_model_B.xD1_tmp = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion1_d[5];

  dx_hand_model_B.t28_h = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.DataTypeConversion1_d[7];

  dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t13_b *

    dx_hand_model_B.DataTypeConversion1_d[7];

  dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

    dx_hand_model_B.DataTypeConversion1_d[6];

  dx_hand_model_B.t1251 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.DataTypeConversion1_d[12];

  dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

    dx_hand_model_B.DataTypeConversion1_d[13];

  dx_hand_model_B.t1312 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion1_d[6];

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t13_b *

    dx_hand_model_B.DataTypeConversion1_d[12];

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.DataTypeConversion1_d[8];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t28_h +

    dx_hand_model_B.xD1_tmp_o;

  dx_hand_model_B.t12_o = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

    dx_hand_model_B.Saturation2_k;

  dx_hand_model_B.t7 = dx_hand_model_B.xD1_tmp_p - dx_hand_model_B.t1251;

  dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_B.t12_o + dx_hand_model_B.t7 *

    dx_hand_model_B.LDG;

  dx_hand_model_B.xD1_tmp_tmp_k =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

    dx_hand_model_B.DataTypeConversion1_d[5];

  dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion1_d[13];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.DataTypeConversion1_d

    [14] * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.t14_a = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b -

    dx_hand_model_B.xD1_tmp;

  dx_hand_model_B.t1226 = dx_hand_model_B.t14_a - dx_hand_model_B.xD1_tmp_i;

  dx_hand_model_B.t1248 = ((dx_hand_model_B.xD1_tmp_i - dx_hand_model_B.t1312) -

    dx_hand_model_B.t28_h) - dx_hand_model_B.xD1_tmp_o;

  dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.t13_b *

    dx_hand_model_B.DataTypeConversion1_d[8];

  dx_hand_model_B.t1250 = ((dx_hand_model_B.xD1_tmp_f +

    dx_hand_model_B.xD1_tmp_tmp_i) + dx_hand_model_B.xD1_tmp_p) -

    dx_hand_model_B.t1251;

  dx_hand_model_B.t3 = ((((dx_hand_model_B.DataTypeConversion1_d[10] *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m -

    dx_hand_model_B.DataTypeConversion1_d[9] *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) - dx_hand_model_B.xD1_tmp) -

    dx_hand_model_B.t1312) - dx_hand_model_B.t28_h) -

    dx_hand_model_B.xD1_tmp_tmp;

  dx_hand_model_B.t1212 = ((((dx_hand_model_B.DataTypeConversion1_d[9] *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m +

    dx_hand_model_B.DataTypeConversion1_d[10] *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp) -

    dx_hand_model_B.xD1_tmp_tmp_k) - dx_hand_model_B.xD1_tmp_f) -

    dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_tmp_o;

  dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t1212 *

    dx_hand_model_B.Saturation4_f + dx_hand_model_B.t3 *

    dx_hand_model_B.Saturation3_o;

  dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.LDF_tmp * dx_hand_model_B.yI *

    dx_hand_model_B.temp;

  dx_hand_model_B.t1252 = dx_hand_model_B.t1226 * dx_hand_model_B.xD1_tmp_tmp_c;

  dx_hand_model_B.t1253 = (dx_hand_model_B.xD1_tmp_tmp_m *

    dx_hand_model_B.JTcomp_idx_3 + (dx_hand_model_B.t1250 * dx_hand_model_B.LDG

    - dx_hand_model_B.t1248 * dx_hand_model_B.Saturation2_k) *

    (dx_hand_model_B.temp * dx_hand_model_B.LDF_tmp)) * dx_hand_model_B.LA2K;

  dx_hand_model_B.t1251 = dx_hand_model_B.t1252 - dx_hand_model_B.t1253;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = (real32_T)sin((real_T)

    dx_hand_model_B.y_f[0]);

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =

    dx_hand_model_B.DataTypeConversion1_d[14] *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m;

  dx_hand_model_B.t11_e = (dx_hand_model_B.xD1_tmp_tmp_k +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) - dx_hand_model_B.xD1_tmp_tmp_i;

  dx_hand_model_B.t1254 = dx_hand_model_B.t11_e * dx_hand_model_B.LA2K -

    dx_hand_model_B.t1226 * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;

  dx_hand_model_B.t1255 = dx_hand_model_B.t1248 *

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp = (dx_hand_model_B.DataTypeConversion1_d[0] +

    13.5F) * dx_hand_model_B.LA2K;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.DataTypeConversion1_d[1]

    - dx_hand_model_B.y_f[6];

  dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.JTcomp_idx_3_tmp -

    dx_hand_model_B.y_f[6] * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp_m = (dx_hand_model_B.DataTypeConversion1_d[0]

    + 13.5F) * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.t7 = (dx_hand_model_B.t3 * dx_hand_model_B.t7 +

                        dx_hand_model_B.t1250 *

                        (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.LDF_tmp)) * dx_hand_model_B.Saturation3_o +

    (dx_hand_model_B.t1212 * (dx_hand_model_B.t7 * dx_hand_model_B.Saturation4_f)

     + dx_hand_model_B.t1250 * (dx_hand_model_B.LDF_tmp *

      dx_hand_model_B.Saturation4_f * dx_hand_model_B.t13_b));

  dx_hand_model_B.JTcomp_idx_3_tmp_a = (dx_hand_model_B.t1255 -

    dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t12_o) - dx_hand_model_B.t7 *

    dx_hand_model_B.LDG;

  dx_hand_model_B.JTcomp_idx_3_tmp += dx_hand_model_B.JTcomp_idx_3_tmp_f *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.LDG * dx_hand_model_B.temp;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.JTcomp_idx_3_tmp_m -

    dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.LA2K;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.JTcomp_idx_3_tmp_a *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp + dx_hand_model_B.t11_e *

    dx_hand_model_B.xD1_tmp_tmp_c;

  dx_hand_model_B.JTcomp_idx_3_tmp_m += dx_hand_model_B.y_f[6] *

    dx_hand_model_B.LA2K;

  dx_hand_model_B.t15_g = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.t12_o = dx_hand_model_B.Saturation2_k * dx_hand_model_B.LA2K;

  dx_hand_model_B.t3 = dx_hand_model_B.LDG * dx_hand_model_B.LA2K;

  dx_hand_model_B.t1212 = (real32_T)cos((real_T)dx_hand_model_B.y_f[5]);

  dx_hand_model_B.JTcomp_idx_3_tmp_c = (dx_hand_model_B.Saturation2 -

    1.13446403F) - dx_hand_model_B.y_f[2];

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.y_f[7] * dx_hand_model_B.temp;

  dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t15_g *

    dx_hand_model_B.yI * dx_hand_model_B.temp *

    dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t1226 -

    (dx_hand_model_B.t1251 * dx_hand_model_B.JTcomp_idx_3_tmp_m -

     dx_hand_model_B.JTcomp_idx_3_tmp_a * (dx_hand_model_B.JTcomp_idx_3_tmp_h *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp)) * dx_hand_model_B.LA2K;

  dx_hand_model_B.JTcomp_idx_3_tmp_m += (((dx_hand_model_B.t1254 *

    dx_hand_model_B.JTcomp_idx_3_tmp_n + dx_hand_model_B.t1254 *

    (dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.JTcomp_idx_3_tmp)) -

    dx_hand_model_B.t1254 * (dx_hand_model_B.JTcomp_idx_3_tmp_k *

    dx_hand_model_B.JTcomp_idx_3_tmp_f)) - dx_hand_model_B.JTcomp_idx_3_tmp_p *

    dx_hand_model_B.JTcomp_idx_3_tmp_h) / dx_hand_model_B.t1251;

  dx_hand_model_B.t11_e = (real32_T)sin((real_T)

    dx_hand_model_B.JTcomp_idx_3_tmp_c);

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t11_e * 14.36F;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.DataTypeConversion5_n *

    16.0F;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = ((dx_hand_model_B.xD1_tmp +

    dx_hand_model_B.t1312) + dx_hand_model_B.t28_h) +

    dx_hand_model_B.xD1_tmp_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = (real32_T)cos((real_T)

    dx_hand_model_B.JTcomp_idx_3_tmp_c);

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp =

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * 14.36F;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p * 16.0F;

  dx_hand_model_B.xD1_tmp_tmp = (real32_T)tan((real_T)dx_hand_model_B.y_f[5]);

  dx_hand_model_B.JTcomp_idx_3_tmp_c = ((dx_hand_model_B.JTcomp_idx_3_tmp_my +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b) + dx_hand_model_B.JTcomp_idx_3_tmp_i)

    - ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp -

        dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) -

       dx_hand_model_B.JTcomp_idx_3_tmp_tmp) * dx_hand_model_B.xD1_tmp_tmp;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.LDF_tmp *

    dx_hand_model_B.LA2K;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.Saturation2_k *

    dx_hand_model_B.temp;

  dx_hand_model_B.xD1_tmp_p = ((dx_hand_model_B.xD1_tmp_tmp_k +

    dx_hand_model_B.xD1_tmp_f) + dx_hand_model_B.xD1_tmp_p) +

    dx_hand_model_B.xD1_tmp_tmp_o;

  dx_hand_model_B.xD1_tmp += dx_hand_model_B.xD1_tmp_i;

  dx_hand_model_B.t15_g = (((((dx_hand_model_B.t14_a - dx_hand_model_B.t1312) -

    dx_hand_model_B.t28_h) - dx_hand_model_B.xD1_tmp_o) *

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp - dx_hand_model_B.t15_g *

    dx_hand_model_B.LDG * dx_hand_model_B.temp * dx_hand_model_B.t1226) -

    dx_hand_model_B.xD1_tmp_tmp_m * (dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

    dx_hand_model_B.t12_o)) - dx_hand_model_B.t7 * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.JTcomp_idx_3_tmp_a *

    (dx_hand_model_B.JTcomp_idx_3_tmp_c * dx_hand_model_B.JTcomp_idx_3_tmp_n);

  dx_hand_model_B.t1255 = ((((dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.Saturation3_o * dx_hand_model_B.JTcomp_idx_3 *

    dx_hand_model_B.t1254 + dx_hand_model_B.t1255 * dx_hand_model_B.t1254) +

    dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Saturation4_f *

    dx_hand_model_B.JTcomp_idx_3 * dx_hand_model_B.t1254) -

    dx_hand_model_B.t1250 * dx_hand_model_B.JTcomp_idx_3_tmp_k *

    dx_hand_model_B.t1254) - dx_hand_model_B.t1251 *

    (dx_hand_model_B.xD1_tmp_tmp_k - dx_hand_model_B.xD1_tmp_tmp_i)) -

    dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.xD1_tmp;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_i +

    dx_hand_model_B.JTcomp_idx_3_tmp_my;

  dx_hand_model_B.t7 = dx_hand_model_B.Saturation3_o * dx_hand_model_B.LA2K;

  dx_hand_model_B.t28_h = dx_hand_model_B.Saturation4_f * dx_hand_model_B.LA2K;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = (((dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.t7 * dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.JTcomp_idx_3 + dx_hand_model_B.t1248 *

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.JTcomp_idx_3_tmp_c) + dx_hand_model_B.xD1_tmp_p *

    dx_hand_model_B.t28_h * dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.JTcomp_idx_3) - dx_hand_model_B.JTcomp_idx_3_tmp_c *

    (dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.xD1_tmp)) -

    dx_hand_model_B.t1250 * (dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.LDG * dx_hand_model_B.temp) *

    dx_hand_model_B.JTcomp_idx_3_tmp_c;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t15_g *

    ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp +

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) * dx_hand_model_B.xD1_tmp_tmp);

  dx_hand_model_B.JTcomp_idx_3 = (dx_hand_model_B.t1255 *

    -(((dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t12_o +

        dx_hand_model_B.y_f[7] * dx_hand_model_B.LA2K) -

       dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.yI) -

      dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t3) /

    (dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.y_f[7]) - (real32_T)

    fabs((real_T)(dx_hand_model_B.JTcomp_idx_3_tmp_m * ((dx_hand_model_B.t15_g *

    (dx_hand_model_B.xH * dx_hand_model_B.xH) / (dx_hand_model_B.t1251 *

    dx_hand_model_B.t1212) + dx_hand_model_B.t1212) * (dx_hand_model_B.t1251 *

    dx_hand_model_B.t1251)) / dx_hand_model_B.JTcomp_idx_3_tmp_n)) *

    ((dx_hand_model_B.Saturation3 - dx_hand_model_DW.UnitDelay3_DSTATE[0]) /

     0.01F * 2.0F) / ((dx_hand_model_B.Saturation2 -

                       dx_hand_model_DW.UnitDelay3_DSTATE[1]) / 0.01F)) -

    dx_hand_model_B.JTcomp_idx_3_tmp_m * (dx_hand_model_B.t1251 *

    dx_hand_model_B.t1251) * (dx_hand_model_B.JTcomp_idx_3_tmp_k -

    (dx_hand_model_B.JTcomp_idx_3_tmp_p - dx_hand_model_B.JTcomp_idx_3_tmp_i) /

    dx_hand_model_B.t1251) / dx_hand_model_B.JTcomp_idx_3_tmp_n;

  if ((dx_hand_model_B.JTcomp_idx_3 == 0.0F) || rtIsNaNF

      (dx_hand_model_B.JTcomp_idx_3) || rtIsInfF(dx_hand_model_B.JTcomp_idx_3))

  {

    dx_hand_model_B.JTcomp_idx_3 = dx_hand_model_DW.UnitDelay1_DSTATE;

  }



  /* ManualSwitch: '<S36>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_ldb == 1) {

    /* MATLAB Function: '<S36>/Jacobian Optim ' */

    dx_hand_model_B.t1251 = (dx_hand_model_B.yH + 0.0135F) *

      dx_hand_model_B.LA2K;

    dx_hand_model_B.LDF_tmp = dx_hand_model_B.t1251 - dx_hand_model_B.LKH *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.xC *= dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m;

    dx_hand_model_B.t1248 = (dx_hand_model_B.LKN + dx_hand_model_B.xC) -

      dx_hand_model_B.TSamp_g;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t1248 *

      dx_hand_model_B.LA2K - dx_hand_model_B.TSamp_cm *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.t14_a = dx_hand_model_B.Saturation2_e *

      dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;

    dx_hand_model_B.t1226 = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *

      dx_hand_model_B.t14_a;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =

      (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f * dx_hand_model_B.t27_m +

       dx_hand_model_B.LDF * (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

        dx_hand_model_B.Saturation2_e)) * dx_hand_model_B.Saturation3_o +

      (dx_hand_model_B.t1309 * (dx_hand_model_B.t27_m *

        dx_hand_model_B.Saturation4_f) + dx_hand_model_B.LDF *

       (dx_hand_model_B.Saturation2_e * dx_hand_model_B.Saturation4_f *

        dx_hand_model_B.t13_b));

    dx_hand_model_B.t13_b = (dx_hand_model_B.t1226 - dx_hand_model_B.LA1N *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.LDG;

    dx_hand_model_B.t1309 = dx_hand_model_B.Saturation2_e *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.yH = (dx_hand_model_B.yH + 0.0135F) *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.yH +

      dx_hand_model_B.LKH * dx_hand_model_B.LA2K;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t1309 *

      dx_hand_model_B.yI * dx_hand_model_B.temp * dx_hand_model_B.LDF_tmp *

      dx_hand_model_B.TSamp_cm - (dx_hand_model_B.LLI *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f - dx_hand_model_B.t13_b *

      (dx_hand_model_B.LDF_tmp * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp))

      * dx_hand_model_B.LA2K;

    dx_hand_model_B.t11_e *= 0.01436F;

    dx_hand_model_B.DataTypeConversion5_n *= 0.016F;

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *= 0.01436F;

    dx_hand_model_B.t27_m = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

      0.016F;

    dx_hand_model_B.xC = ((dx_hand_model_B.DataTypeConversion5_n +

      dx_hand_model_B.Sum_nf) + dx_hand_model_B.t11_e) - ((dx_hand_model_B.xC -

      dx_hand_model_B.t27_m) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) *

      dx_hand_model_B.xD1_tmp_tmp;



    /* MATLAB Function: '<S39>/IsNan ' incorporates:

     *  MATLAB Function: '<S36>/Jacobian Optim '

     */

    dx_hand_model_B.Switch_i[0] = (((((dx_hand_model_B.TSamp_cb *

      dx_hand_model_B.t12_o - dx_hand_model_B.LA1K * dx_hand_model_B.LA2K *

      dx_hand_model_B.Saturation2_k *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p) -

      dx_hand_model_B.TSamp_cm * dx_hand_model_B.yI) - dx_hand_model_B.TSamp_cm *

      ((real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) *

       (real32_T)sin((real_T)dx_hand_model_B.y_f[0]))) *

      (dx_hand_model_B.Saturation2_e * (dx_hand_model_B.xH * dx_hand_model_B.xH)

       * dx_hand_model_B.temp) + dx_hand_model_B.Sum1_h) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) *

      -dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m /

      (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * (dx_hand_model_B.xC *

        dx_hand_model_B.t1212));



    /* MATLAB Function: '<S36>/Jacobian Optim ' */

    dx_hand_model_B.LA1K = ((dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 +

      dx_hand_model_B.qKN) + dx_hand_model_B.xD1) + dx_hand_model_B.t1313;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = ((dx_hand_model_B.LKN +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l) +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) + dx_hand_model_B.t4_o;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe +=

      dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =

      dx_hand_model_B.Saturation2_e * dx_hand_model_B.LA2K;

    dx_hand_model_B.Saturation2_k =

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l *

      dx_hand_model_B.Saturation2_k * dx_hand_model_B.temp;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p =

      dx_hand_model_B.Saturation2_e * dx_hand_model_B.LDG * dx_hand_model_B.temp;

    dx_hand_model_B.t13_b = dx_hand_model_B.t13_b *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp + dx_hand_model_B.t1248 *

      dx_hand_model_B.Product_f;

    dx_hand_model_B.LA1N = (((((dx_hand_model_B.TSamp_cb - dx_hand_model_B.qKN)

      - dx_hand_model_B.xD1) - dx_hand_model_B.xD) *

      dx_hand_model_B.Saturation2_k - dx_hand_model_B.t1309 *

      dx_hand_model_B.LDG * dx_hand_model_B.temp * dx_hand_model_B.TSamp_cm) -

      dx_hand_model_B.LA1N * (dx_hand_model_B.LBD * dx_hand_model_B.t12_o)) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t3;

    dx_hand_model_B.t1226 = ((((dx_hand_model_B.LA1K *

      dx_hand_model_B.Saturation3_o *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m + dx_hand_model_B.t1226 *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n *

      dx_hand_model_B.Saturation4_f *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) - dx_hand_model_B.LDF *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) - dx_hand_model_B.LLI *

      (dx_hand_model_B.LKN - dx_hand_model_B.TSamp_g)) - dx_hand_model_B.t13_b *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;

    dx_hand_model_B.LA1K = (((dx_hand_model_B.LA1K * dx_hand_model_B.t7 *

      dx_hand_model_B.xC * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *

      dx_hand_model_B.Saturation2_k * dx_hand_model_B.xC) +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n * dx_hand_model_B.t28_h *

      dx_hand_model_B.xC * dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) -

      dx_hand_model_B.xC * (dx_hand_model_B.Product_f *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe)) - dx_hand_model_B.LDF *

      (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.LDG *

       dx_hand_model_B.temp) * dx_hand_model_B.xC;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = dx_hand_model_B.LA1N *

      ((dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a + dx_hand_model_B.t27_m) *

       dx_hand_model_B.xD1_tmp_tmp);

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe = dx_hand_model_B.t11_e +

      dx_hand_model_B.DataTypeConversion5_n;



    /* MATLAB Function: '<S39>/IsNan ' incorporates:

     *  MATLAB Function: '<S36>/Jacobian Optim '

     */

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.t1226 * dx_hand_model_B.LA2K /

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j - ((dx_hand_model_B.LA1K -

      dx_hand_model_B.LLI * dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m /

      (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.xC);



    /* MATLAB Function: '<S36>/Jacobian Optim ' */

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l =

      dx_hand_model_B.DataTypeConversion1_d[1] / 1000.0F - dx_hand_model_B.LKH;

    dx_hand_model_B.Saturation2_k = dx_hand_model_B.Saturation2_e *

      dx_hand_model_B.yD * dx_hand_model_B.temp;

    dx_hand_model_B.LKH = dx_hand_model_B.t1251 +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l = dx_hand_model_B.yH -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.LA2K;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m =

      (((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

         dx_hand_model_B.Saturation2_k +

         dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

         (dx_hand_model_B.t14_a * dx_hand_model_B.LKH)) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

        (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p *

         dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l)) -

       dx_hand_model_B.t13_b * dx_hand_model_B.LDF_tmp) / dx_hand_model_B.LLI +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f;

    dx_hand_model_B.xC = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

      (dx_hand_model_B.xC * dx_hand_model_B.Saturation2_k);



    /* MATLAB Function: '<S39>/IsNan ' incorporates:

     *  MATLAB Function: '<S36>/Jacobian Optim '

     */

    dx_hand_model_B.Switch_i[2] =

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * ((dx_hand_model_B.LA1N *

      (dx_hand_model_B.xH * dx_hand_model_B.xH) / (dx_hand_model_B.LLI *

      dx_hand_model_B.t1212) + dx_hand_model_B.t1212) * (dx_hand_model_B.LLI *

      dx_hand_model_B.LLI)) / dx_hand_model_B.xC;

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.t1226 *

      -(((dx_hand_model_B.LKH * dx_hand_model_B.t12_o + dx_hand_model_B.yD *

          dx_hand_model_B.LA2K) - dx_hand_model_B.LDF_tmp * dx_hand_model_B.yI)

        - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l * dx_hand_model_B.t3) /

      (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.yD) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * (dx_hand_model_B.LLI *

      dx_hand_model_B.LLI) * (dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe -

      (dx_hand_model_B.LA1K - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n) /

      dx_hand_model_B.LLI) / dx_hand_model_B.xC;

  } else {

    /* MATLAB Function: '<S39>/IsNan ' incorporates:

     *  MATLAB Function: '<S36>/Jacobian'

     *  SignalConversion: '<S48>/TmpSignal ConversionAt SFunction Inport2'

     */

    dx_hand_model_B.Switch_i[0] = (((((dx_hand_model_B.t14_a *

      dx_hand_model_B.t12_o - dx_hand_model_B.DataTypeConversion1_d[13] *

      dx_hand_model_B.LA2K * dx_hand_model_B.Saturation2_k *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p) - dx_hand_model_B.t1226 *

      dx_hand_model_B.yI) - dx_hand_model_B.t1226 * (dx_hand_model_B.LDG *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp)) * (dx_hand_model_B.LDF_tmp

      * (dx_hand_model_B.xH * dx_hand_model_B.xH) * dx_hand_model_B.temp) +

      dx_hand_model_B.t1252) - dx_hand_model_B.t1253) * -dx_hand_model_B.t1254 /

      (dx_hand_model_B.JTcomp_idx_3_tmp_a * (dx_hand_model_B.JTcomp_idx_3_tmp_c *

        dx_hand_model_B.t1212));

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.t1255 * dx_hand_model_B.LA2K /

      dx_hand_model_B.JTcomp_idx_3_tmp_a - ((dx_hand_model_B.JTcomp_idx_3_tmp_p

      - dx_hand_model_B.t1251 * dx_hand_model_B.JTcomp_idx_3_tmp_k) -

      dx_hand_model_B.JTcomp_idx_3_tmp_i) * dx_hand_model_B.t1254 /

      (dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.JTcomp_idx_3_tmp_c);

    dx_hand_model_B.Switch_i[2] = (real32_T)fabs((real_T)(((((((((real32_T)cos

      ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5] +

      dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *

      (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +

      dx_hand_model_B.DataTypeConversion1_d[8]) * dx_hand_model_B.y_f[7] *

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[4]))) + ((((real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5] +

      dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *

      (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +

      dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +

      13.5F) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]) +

      (dx_hand_model_B.DataTypeConversion1_d[1] - dx_hand_model_B.y_f[6]) *

      (real32_T)sin((real_T)dx_hand_model_B.y_f[0])))) - ((((real32_T)cos

      ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5] +

      dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0]) - ((dx_hand_model_B.DataTypeConversion1_d[14] *

      (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +

      dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)

      (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +

      13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) -

      (dx_hand_model_B.DataTypeConversion1_d[1] - dx_hand_model_B.y_f[6]) *

      (real32_T)cos((real_T)dx_hand_model_B.y_f[0])))) - (((((((real32_T)cos

      ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13] - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])

      * ((dx_hand_model_B.DataTypeConversion1_d[7] +

          dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - ((((((dx_hand_model_B.DataTypeConversion1_d[9]

      * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +

      dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))

      + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

             (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

            ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

         (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))))

      - (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

               (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

              ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

           (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -

      (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])

          + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

               (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

              (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

          ((real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           (dx_hand_model_B.DataTypeConversion1_d[7] +

            dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +

         ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *

               (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos

              ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

           (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -

      (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))

          + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

               (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

              (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

          ((dx_hand_model_B.DataTypeConversion1_d[7] +

            dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2]))))) * (real32_T)cos((real_T)(dx_hand_model_B.y_f

      [0] + dx_hand_model_B.y_f[1]))) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0]) + (((real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5] +

      dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13]) *

      ((dx_hand_model_B.DataTypeConversion1_d[7] +

        dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4])))) * ((dx_hand_model_B.DataTypeConversion1_d[0] +

      13.5F) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]) -

      dx_hand_model_B.y_f[6] * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]))) /

      (((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

        dx_hand_model_B.DataTypeConversion1_d[13]) *

       ((dx_hand_model_B.DataTypeConversion1_d[7] +

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d

      [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +

      dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))

      + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

             (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

            ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

         (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +

      ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

       dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

            (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

           (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))

         - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -

              (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -

             (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *

         (dx_hand_model_B.DataTypeConversion1_d[7] +

          dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0])) + ((dx_hand_model_B.DataTypeConversion1_d[0] +

      13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) +

      dx_hand_model_B.y_f[6] * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]))) *

      (((((((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

            (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[12]) *

           ((dx_hand_model_B.DataTypeConversion1_d[7] +

             dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0]) * (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] +

      dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - (dx_hand_model_B.DataTypeConversion1_d[7] +

      dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0]) * (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] +

      dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4])) * ((dx_hand_model_B.DataTypeConversion1_d[14] *

      (real32_T)sin((real_T)dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[13])) -

          ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *

                (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos

               ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

            (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +

           (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos

                ((real_T)dx_hand_model_B.y_f[2]) -

                dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

            (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      ((real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) *

       (real32_T)cos((real_T)dx_hand_model_B.y_f[0])))) -

         (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos

                ((real_T)dx_hand_model_B.y_f[2]) -

                dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

            (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -

      (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])

           + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

                (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

               (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

           ((real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            (dx_hand_model_B.DataTypeConversion1_d[7] +

             dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +

          ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) + dx_hand_model_B.DataTypeConversion1_d[10] *

                (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos

               ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

              dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

            (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7] -

      (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))

           + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

                (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

               (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

           ((dx_hand_model_B.DataTypeConversion1_d[7] +

             dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2]))))) * ((real32_T)cos((real_T)

      (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0]))) * (dx_hand_model_B.xH * dx_hand_model_B.xH) /

        ((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[13]) *

          ((dx_hand_model_B.DataTypeConversion1_d[7] +

            dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d

      [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +

      dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))

      + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

             (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

            ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

         (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +

      ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

       dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

            (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

           (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))

         - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -

              (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -

             (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *

         (dx_hand_model_B.DataTypeConversion1_d[7] +

          dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0])) * (real32_T)cos((real_T)dx_hand_model_B.y_f[5]))

        + (real32_T)cos((real_T)dx_hand_model_B.y_f[5])) *

       (dx_hand_model_B.t1251 * dx_hand_model_B.t1251)) /

      (((dx_hand_model_B.DataTypeConversion1_d[7] +

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0]) * (real32_T)sin((real_T)dx_hand_model_B.y_f[1]) *

        (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *

        ((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) * (real32_T)cos

         ((real_T)dx_hand_model_B.y_f[0]) - dx_hand_model_B.y_f[6] * (real32_T)

         sin((real_T)dx_hand_model_B.y_f[0])) *

        ((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

          dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[13]) -

        ((((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[13]) *

          ((dx_hand_model_B.DataTypeConversion1_d[7] +

            dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[1]) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - (((((((dx_hand_model_B.DataTypeConversion1_d

      [9] * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +

      dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))

      + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

             (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

            ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

         (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) +

      ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

       dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      + (((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

            (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

           (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)cos((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))

         - ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -

              (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -

             (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

         (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])))

      * ((real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[4])) *

         (dx_hand_model_B.DataTypeConversion1_d[7] +

          dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[0])) * ((dx_hand_model_B.DataTypeConversion1_d[0] +

      13.5F) * (real32_T)sin((real_T)dx_hand_model_B.y_f[0]) +

      dx_hand_model_B.y_f[6] * (real32_T)cos((real_T)dx_hand_model_B.y_f[0])) -

         ((((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13] -

              (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6]) -

             (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

             dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

           ((dx_hand_model_B.DataTypeConversion1_d[7] +

             dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1])) * (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[4]))) - ((((((dx_hand_model_B.DataTypeConversion1_d[9]

      * (real32_T)cos((real_T)dx_hand_model_B.y_f[2]) +

      dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[8])

      * (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))

      + (((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - dx_hand_model_B.DataTypeConversion1_d[9] *

             (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin

            ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

            dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

           dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[7]) -

         (real32_T)sin((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

         dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2]))) * (((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] + (real32_T)cos((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)sin((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))))

          - (((((((dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)cos

                   ((real_T)dx_hand_model_B.y_f[2]) -

                   dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)sin

                   ((real_T)dx_hand_model_B.y_f[2])) - (real32_T)sin((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

                  dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)sin

                 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2]))

                 * dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)sin

                ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

                          - dx_hand_model_B.y_f[2])) *

                dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin

               ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

                         - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[8]) * ((real32_T)cos

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) +

              ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

                 (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

                (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

                dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin

               ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

                         - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[12]) * ((real32_T)sin

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      (dx_hand_model_B.DataTypeConversion1_d[7] +

       dx_hand_model_B.DataTypeConversion1_d[8]))) * (real32_T)sin((real_T)

      (dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) +

             ((((((dx_hand_model_B.DataTypeConversion1_d[9] * (real32_T)cos

                   ((real_T)dx_hand_model_B.y_f[2]) +

                   dx_hand_model_B.DataTypeConversion1_d[10] * (real32_T)sin

                   ((real_T)dx_hand_model_B.y_f[2])) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) *

                  dx_hand_model_B.DataTypeConversion1_d[5]) - (real32_T)cos

                 ((real_T)(dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2]))

                 * dx_hand_model_B.DataTypeConversion1_d[6]) - (real32_T)cos

                ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

                          - dx_hand_model_B.y_f[2])) *

                dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)cos

               ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

                         - dx_hand_model_B.y_f[2])) *

               dx_hand_model_B.DataTypeConversion1_d[8]) * (((real32_T)cos

      ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

                dx_hand_model_B.y_f[2])) *

      dx_hand_model_B.DataTypeConversion1_d[7] - (real32_T)sin((real_T)

      ((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3]) -

       dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

      (real32_T)cos((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])))

              + ((((real32_T)cos((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[6] +

                   (real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[13]) +

                  (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2])) *

                  dx_hand_model_B.DataTypeConversion1_d[7]) - (real32_T)sin

                 ((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[3])

      - dx_hand_model_B.y_f[2])) * dx_hand_model_B.DataTypeConversion1_d[12]) *

              ((dx_hand_model_B.DataTypeConversion1_d[7] +

                dx_hand_model_B.DataTypeConversion1_d[8]) * (real32_T)cos

               ((real_T)(dx_hand_model_B.y_f[4] - dx_hand_model_B.y_f[2])) *

               (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[3]) - dx_hand_model_B.y_f[2]))))) * (real32_T)cos

          ((real_T)(dx_hand_model_B.y_f[0] + dx_hand_model_B.y_f[1]))) *

         (((dx_hand_model_B.DataTypeConversion1_d[0] + 13.5F) * (real32_T)cos

           ((real_T)dx_hand_model_B.y_f[0]) - dx_hand_model_B.y_f[6] * (real32_T)

           sin((real_T)dx_hand_model_B.y_f[0])) * (real32_T)sin((real_T)

      dx_hand_model_B.y_f[0]))) * (real32_T)cos((real_T)dx_hand_model_B.y_f[0]))

       * (((((real32_T)sin((real_T)(dx_hand_model_B.Saturation2 -

      dx_hand_model_B.y_f[2])) * 16.0F + dx_hand_model_B.DataTypeConversion1_d

             [14] * (real32_T)sin((real_T)dx_hand_model_B.y_f[2])) + (real32_T)

            sin((real_T)((dx_hand_model_B.Saturation2 - 1.13446403F) -

                         dx_hand_model_B.y_f[2])) * 14.36F) -

           ((dx_hand_model_B.DataTypeConversion1_d[14] * (real32_T)cos((real_T)

      dx_hand_model_B.y_f[2]) - (real32_T)cos((real_T)

      (dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f[2])) * 16.0F) -

            (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - 1.13446403F) -

      dx_hand_model_B.y_f[2])) * 14.36F) * (real32_T)tan((real_T)

      dx_hand_model_B.y_f[5])) * ((dx_hand_model_B.DataTypeConversion1_d[7] +

      dx_hand_model_B.DataTypeConversion1_d[8]) * dx_hand_model_B.y_f[7] *

      (real32_T)cos((real_T)((dx_hand_model_B.Saturation2 - dx_hand_model_B.y_f

      [3]) - dx_hand_model_B.y_f[4])))))));

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.JTcomp_idx_3;

  }



  /* End of ManualSwitch: '<S36>/Manual Switch' */



  /* MATLAB Function: '<S39>/IsNan ' incorporates:

   *  Memory: '<S39>/Memory'

   */

  if (rtIsInfF(dx_hand_model_B.Switch_i[0]) || rtIsNaNF

      (dx_hand_model_B.Switch_i[0])) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_DW.Memory_PreviousInput[0];

  }



  dx_hand_model_B.J_c[0] = dx_hand_model_B.Switch_i[0];

  if (rtIsInfF(dx_hand_model_B.Switch_i[1]) || rtIsNaNF

      (dx_hand_model_B.Switch_i[1])) {

    dx_hand_model_B.Switch_i[1] = dx_hand_model_DW.Memory_PreviousInput[1];

  }



  dx_hand_model_B.J_c[1] = dx_hand_model_B.Switch_i[1];

  if (rtIsInfF(dx_hand_model_B.Switch_i[2]) || rtIsNaNF

      (dx_hand_model_B.Switch_i[2])) {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_DW.Memory_PreviousInput[2];

  }



  dx_hand_model_B.J_c[2] = dx_hand_model_B.Switch_i[2];

  if (rtIsInfF(dx_hand_model_B.Switch_i[3]) || rtIsNaNF

      (dx_hand_model_B.Switch_i[3])) {

    dx_hand_model_B.Switch_i[3] = dx_hand_model_DW.Memory_PreviousInput[3];

  }



  dx_hand_model_B.J_c[3] = dx_hand_model_B.Switch_i[3];



  /* DiscreteTransferFcn: '<S39>/Filt 4' incorporates:

   *  Delay: '<S10>/Delay'

   *  Delay: '<S4>/Delay'

   *  DiscreteTransferFcn: '<S131>/Filt 4'

   *  DiscreteTransferFcn: '<S131>/Filt 4'

   *  DiscreteTransferFcn: '<S176>/Filt 4'

   *  DiscreteTransferFcn: '<S176>/Filt 4'

   *  DiscreteTransferFcn: '<S216>/Filt 1'

   *  DiscreteTransferFcn: '<S216>/Filt 1'

   *  DiscreteTransferFcn: '<S216>/Filt 2'

   *  DiscreteTransferFcn: '<S216>/Filt 2'

   *  DiscreteTransferFcn: '<S216>/Filt 3'

   *  DiscreteTransferFcn: '<S216>/Filt 3'

   *  DiscreteTransferFcn: '<S216>/Filt 4'

   *  DiscreteTransferFcn: '<S216>/Filt 4'

   *  DiscreteTransferFcn: '<S216>/Filt 5'

   *  DiscreteTransferFcn: '<S216>/Filt 5'

   *  DiscreteTransferFcn: '<S216>/Filt 6'

   *  DiscreteTransferFcn: '<S216>/Filt 6'

   *  DiscreteTransferFcn: '<S216>/Filt 8'

   *  DiscreteTransferFcn: '<S216>/Filt 8'

   *  DiscreteTransferFcn: '<S26>/Filt 4'

   *  DiscreteTransferFcn: '<S26>/Filt 4'

   *  DiscreteTransferFcn: '<S27>/Filt 4'

   *  DiscreteTransferFcn: '<S27>/Filt 4'

   *  DiscreteTransferFcn: '<S28>/Filt 4'

   *  DiscreteTransferFcn: '<S28>/Filt 4'

   *  DiscreteTransferFcn: '<S29>/Filt 4'

   *  DiscreteTransferFcn: '<S29>/Filt 4'

   *  DiscreteTransferFcn: '<S30>/Filt 4'

   *  DiscreteTransferFcn: '<S30>/Filt 4'

   *  DiscreteTransferFcn: '<S31>/Filt 4'

   *  DiscreteTransferFcn: '<S31>/Filt 4'

   *  DiscreteTransferFcn: '<S84>/Filt 4'

   *  DiscreteTransferFcn: '<S84>/Filt 4'

   *  S-Function (sdspFromNetwork): '<S4>/Receive from Haptics'

   */

  dx_hand_model_B.k = 4;



  /* Switch: '<S39>/Switch' */

  if (dx_hand_model_B.Product_k > dx_hand_model_P.Switch_Threshold_gm) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];

  }



  /* End of Switch: '<S39>/Switch' */



  /* RateTransition: '<S69>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_l = dx_hand_model_DW.RateTransition_Buffer0_a;

  }



  /* End of RateTransition: '<S69>/Rate Transition' */



  /* DiscreteTransferFcn: '<S27>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Product_k = dx_hand_model_P.Filt4_NumCoef_d[1] *

      dx_hand_model_DW.Filt4_states_p;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S24>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_gt =

      dx_hand_model_DW.RateTransition_Buffer0_l;

  }



  /* End of RateTransition: '<S24>/Rate Transition' */



  /* Outputs for Atomic SubSystem: '<S20>/Subscribe1' */

  /* Start for MATLABSystem: '<S25>/SourceBlock' incorporates:

   *  Inport: '<S32>/In1'

   */

  dx_hand_model_B.xneg = Sub_dx_hand_model_2652.getLatestMessage

    (&dx_hand_model_B.msg_k);



  /* Outputs for Enabled SubSystem: '<S25>/Enabled Subsystem' incorporates:

   *  EnablePort: '<S32>/Enable'

   */

  if (dx_hand_model_B.xneg) {

    dx_hand_model_B.In1 = dx_hand_model_B.msg_k;

  }



  /* End of Start for MATLABSystem: '<S25>/SourceBlock' */

  /* End of Outputs for SubSystem: '<S25>/Enabled Subsystem' */

  /* End of Outputs for SubSystem: '<S20>/Subscribe1' */



  /* DataTypeConversion: '<S24>/Data Type Conversion2' incorporates:

   *  SignalConversion: '<S20>/SigConversion_InsertedFor_Bus Selector_at_outport_0'

   */

  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 9; dx_hand_model_B.i++) {

    dx_hand_model_B.DataTypeConversion2[dx_hand_model_B.i] = (real32_T)

      dx_hand_model_B.In1.Position[dx_hand_model_B.i];

  }



  /* End of DataTypeConversion: '<S24>/Data Type Conversion2' */



  /* Switch: '<S27>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_ej)) {

    dx_hand_model_B.Product_k = dx_hand_model_B.DataTypeConversion2[3];

  }



  /* End of Switch: '<S27>/Switch' */



  /* RateTransition: '<S76>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_j = dx_hand_model_DW.RateTransition_Buffer0_h;

  }



  /* End of RateTransition: '<S76>/Rate Transition' */



  /* Product: '<S76>/Product' incorporates:

   *  DataTypeConversion: '<S76>/Data Type Conversion1'

   */

  dx_hand_model_B.LKH = (real32_T)dx_hand_model_B.RateTransition_j *

    dx_hand_model_B.y_f[0];



  /* Saturate: '<S38>/Saturation3' */

  if (dx_hand_model_B.LKH > dx_hand_model_P.Saturation3_UpperSat_d) {

    dx_hand_model_B.LA1N = dx_hand_model_P.Saturation3_UpperSat_d;

  } else if (dx_hand_model_B.LKH < dx_hand_model_P.Saturation3_LowerSat_l) {

    dx_hand_model_B.LA1N = dx_hand_model_P.Saturation3_LowerSat_l;

  } else {

    dx_hand_model_B.LA1N = dx_hand_model_B.LKH;

  }



  /* End of Saturate: '<S38>/Saturation3' */



  /* Product: '<S69>/Product' incorporates:

   *  DataTypeConversion: '<S69>/Data Type Conversion1'

   *  Sum: '<S38>/Sum'

   */

  dx_hand_model_B.Saturation4_f = (dx_hand_model_B.Product_k -

    dx_hand_model_B.LA1N) * (real32_T)dx_hand_model_B.RateTransition_l;



  /* RateTransition: '<S70>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ah =

      dx_hand_model_DW.RateTransition_Buffer0_f;

  }



  /* End of RateTransition: '<S70>/Rate Transition' */



  /* DiscreteTransferFcn: '<S26>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_c[1] *

      dx_hand_model_DW.Filt4_states_e;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S26>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_ab)) {

    dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[2];

  }



  /* End of Switch: '<S26>/Switch' */



  /* RateTransition: '<S77>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_lm =

      dx_hand_model_DW.RateTransition_Buffer0_hi;

  }



  /* End of RateTransition: '<S77>/Rate Transition' */



  /* Product: '<S77>/Product' incorporates:

   *  DataTypeConversion: '<S77>/Data Type Conversion1'

   */

  dx_hand_model_B.LKN = (real32_T)dx_hand_model_B.RateTransition_lm *

    dx_hand_model_B.y_f[1];



  /* Saturate: '<S38>/Saturation4' */

  if (dx_hand_model_B.LKN > dx_hand_model_P.Saturation4_UpperSat_l) {

    dx_hand_model_B.Sum1_h = dx_hand_model_P.Saturation4_UpperSat_l;

  } else if (dx_hand_model_B.LKN < dx_hand_model_P.Saturation4_LowerSat_a) {

    dx_hand_model_B.Sum1_h = dx_hand_model_P.Saturation4_LowerSat_a;

  } else {

    dx_hand_model_B.Sum1_h = dx_hand_model_B.LKN;

  }



  /* End of Saturate: '<S38>/Saturation4' */



  /* RateTransition: '<S71>/Rate Transition' incorporates:

   *  RateTransition: '<S67>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_k =

      dx_hand_model_DW.RateTransition_Buffer0_eo;

    dx_hand_model_B.RateTransition_n = dx_hand_model_DW.RateTransition_Buffer0_k;

  }



  /* End of RateTransition: '<S71>/Rate Transition' */



  /* SampleTimeMath: '<S63>/TSamp'

   *

   * About '<S63>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.qKN = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt;



  /* SampleTimeMath: '<S61>/TSamp'

   *

   * About '<S61>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LA1N *= dx_hand_model_P.TSamp_WtEt_l;



  /* RateTransition: '<S72>/Rate Transition' incorporates:

   *  RateTransition: '<S68>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_o =

      dx_hand_model_DW.RateTransition_Buffer0_lg;

    dx_hand_model_B.RateTransition_k1 =

      dx_hand_model_DW.RateTransition_Buffer0_d;

  }



  /* End of RateTransition: '<S72>/Rate Transition' */



  /* SampleTimeMath: '<S64>/TSamp'

   *

   * About '<S64>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LA1K = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_d;



  /* SampleTimeMath: '<S62>/TSamp'

   *

   * About '<S62>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LA2K = dx_hand_model_B.Sum1_h * dx_hand_model_P.TSamp_WtEt_b;



  /* Switch: '<S67>/Switch' incorporates:

   *  Constant: '<S67>/Constant'

   *  DataTypeConversion: '<S67>/Data Type Conversion1'

   *  Sum: '<S63>/Diff'

   *  UnitDelay: '<S63>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_n >

      dx_hand_model_P.Switch_Threshold_d) {

    dx_hand_model_B.t4_o = dx_hand_model_B.qKN - dx_hand_model_DW.UD_DSTATE;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_nm;

  }



  /* End of Switch: '<S67>/Switch' */



  /* Sum: '<S38>/Sum2' incorporates:

   *  DataTypeConversion: '<S71>/Data Type Conversion1'

   *  Product: '<S71>/Product'

   *  Sum: '<S38>/Sum3'

   *  Sum: '<S61>/Diff'

   *  UnitDelay: '<S61>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.LA1N - dx_hand_model_DW.UD_DSTATE_e)) * (real32_T)

    dx_hand_model_B.RateTransition_k + dx_hand_model_B.Saturation4_f;



  /* Switch: '<S68>/Switch' incorporates:

   *  Constant: '<S68>/Constant'

   *  DataTypeConversion: '<S68>/Data Type Conversion1'

   *  Sum: '<S64>/Diff'

   *  UnitDelay: '<S64>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_k1 >

      dx_hand_model_P.Switch_Threshold_c) {

    dx_hand_model_B.t4_o = dx_hand_model_B.LA1K - dx_hand_model_DW.UD_DSTATE_h;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_f;

  }



  /* End of Switch: '<S68>/Switch' */



  /* Sum: '<S38>/Sum2' incorporates:

   *  DataTypeConversion: '<S70>/Data Type Conversion1'

   *  DataTypeConversion: '<S72>/Data Type Conversion1'

   *  Product: '<S70>/Product'

   *  Product: '<S72>/Product'

   *  Sum: '<S38>/Sum1'

   *  Sum: '<S38>/Sum4'

   *  Sum: '<S62>/Diff'

   *  UnitDelay: '<S62>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.LA2K - dx_hand_model_DW.UD_DSTATE_d)) * (real32_T)

    dx_hand_model_B.RateTransition_o + (dx_hand_model_B.Sum_a -

    dx_hand_model_B.Sum1_h) * (real32_T)dx_hand_model_B.RateTransition_ah;



  /* MATLAB Function: '<S38>/Optimized_Static_Problem' */

  Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Optimized_Static_Problem);



  /* RateTransition: '<S66>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ov =

      dx_hand_model_DW.RateTransition_Buffer0_fj;

  }



  /* End of RateTransition: '<S66>/Rate Transition' */



  /* MATLAB Function: '<S38>/Classic_Static_Problem' */

  dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Classic_Static_Problem);



  /* RateTransition: '<S34>/Rate Transition' incorporates:

   *  RateTransition: '<S47>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_jm =

      dx_hand_model_DW.RateTransition_Buffer0_b;

    dx_hand_model_B.RateTransition_lp =

      dx_hand_model_DW.RateTransition_Buffer0_jl;

  }



  /* End of RateTransition: '<S34>/Rate Transition' */



  /* Outputs for Atomic SubSystem: '<S19>/Subscribe' */

  /* Start for MATLABSystem: '<S21>/SourceBlock' incorporates:

   *  Inport: '<S22>/In1'

   */

  dx_hand_model_B.xneg = Sub_dx_hand_model_437.getLatestMessage

    (&dx_hand_model_B.b_varargout_2);



  /* Outputs for Enabled SubSystem: '<S21>/Enabled Subsystem' incorporates:

   *  EnablePort: '<S22>/Enable'

   */

  if (dx_hand_model_B.xneg) {

    dx_hand_model_B.In1_e = dx_hand_model_B.b_varargout_2;

  }



  /* End of Start for MATLABSystem: '<S21>/SourceBlock' */

  /* End of Outputs for SubSystem: '<S21>/Enabled Subsystem' */

  /* End of Outputs for SubSystem: '<S19>/Subscribe' */



  /* ManualSwitch: '<S47>/Manual Switch' incorporates:

   *  Constant: '<S47>/Constant'

   *  DataTypeConversion: '<S47>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_i == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_lp;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_e2;

  }



  /* End of ManualSwitch: '<S47>/Manual Switch' */



  /* DataTypeConversion: '<S47>/Data Type Conversion1' incorporates:

   *  Gain: '<S44>/Maximum Torque'

   *  Gain: '<S44>/Normalize Current'

   *  Gain: '<S44>/Sign'

   *  Product: '<S47>/Product'

   */

  dx_hand_model_B.yD = (real32_T)(dx_hand_model_P.NormalizeCurrent_Gain *

    dx_hand_model_B.In1_e.Data[3] * dx_hand_model_P.MaximumTorque_Gain *

    dx_hand_model_P.Sign_Gain * dx_hand_model_B.t4_o);



  /* RateTransition: '<S46>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_p = dx_hand_model_DW.RateTransition_Buffer0_g;

  }



  /* End of RateTransition: '<S46>/Rate Transition' */



  /* ManualSwitch: '<S46>/Manual Switch' incorporates:

   *  Constant: '<S46>/Constant'

   *  DataTypeConversion: '<S46>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_n == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_p;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_jk;

  }



  /* End of ManualSwitch: '<S46>/Manual Switch' */



  /* Product: '<S46>/Product' incorporates:

   *  Gain: '<S44>/Gain1'

   *  Gain: '<S44>/Maximum Torque1'

   *  Gain: '<S44>/Sign1'

   */

  dx_hand_model_B.Switch = dx_hand_model_P.Gain1_Gain *

    dx_hand_model_B.In1_e.Data[2] * dx_hand_model_P.MaximumTorque1_Gain *

    dx_hand_model_P.Sign1_Gain * dx_hand_model_B.t4_o;



  /* MATLAB Function: '<S35>/Optimized_Static_Problem' incorporates:

   *  DataTypeConversion: '<S46>/Data Type Conversion1'

   */

  dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i, dx_hand_model_B.yD,

    (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Optimized_Static_Problem_j);



  /* RateTransition: '<S45>/Rate Transition' incorporates:

   *  RateTransition: '<S41>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_b =

      dx_hand_model_DW.RateTransition_Buffer0_kp;

    dx_hand_model_B.RateTransition_pg =

      dx_hand_model_DW.RateTransition_Buffer0_k1;

  }



  /* End of RateTransition: '<S45>/Rate Transition' */



  /* Switch: '<S34>/Switch' incorporates:

   *  DataTypeConversion: '<S34>/Data Type Conversion1'

   *  DataTypeConversion: '<S45>/Data Type Conversion1'

   *  DataTypeConversion: '<S46>/Data Type Conversion1'

   *  MATLAB Function: '<S35>/Classic_Static_Problem'

   *  SignalConversion: '<S42>/TmpSignal ConversionAt SFunction Inport2'

   *  Switch: '<S45>/Switch'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_jm >

      dx_hand_model_P.Switch_Threshold_kg) {

    /* Switch: '<S66>/Switch' incorporates:

     *  DataTypeConversion: '<S66>/Data Type Conversion1'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_ov >

        dx_hand_model_P.Switch_Threshold_b3) {

      dx_hand_model_B.yD = dx_hand_model_B.sf_Optimized_Static_Problem.y;

    } else {

      dx_hand_model_B.yD = dx_hand_model_B.sf_Classic_Static_Problem.rate;

    }



    /* End of Switch: '<S66>/Switch' */

  } else if ((real32_T)dx_hand_model_B.RateTransition_b >

             dx_hand_model_P.Switch_Threshold_i) {

    /* Switch: '<S45>/Switch' */

    dx_hand_model_B.yD = dx_hand_model_B.sf_Optimized_Static_Problem_j.y;

  } else {

    dx_hand_model_B.yD = dx_hand_model_B.Switch_i[0] * dx_hand_model_B.yD +

      dx_hand_model_B.Switch_i[2] * (real32_T)dx_hand_model_B.Switch;

  }



  /* End of Switch: '<S34>/Switch' */



  /* Switch: '<S33>/Switch' incorporates:

   *  Constant: '<S33>/Constant'

   */

  if (dx_hand_model_B.Switch_n > dx_hand_model_P.Switch_Threshold_lk) {

    /* Switch: '<S41>/Switch' incorporates:

     *  DataTypeConversion: '<S41>/Data Type Conversion1'

     *  Saturate: '<S41>/Saturation2'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_pg >

        dx_hand_model_P.Switch_Threshold_a) {

      /* Saturate: '<S41>/Saturation1' */

      if (dx_hand_model_B.yD > dx_hand_model_P.max_force) {

        dx_hand_model_B.Switch_n = dx_hand_model_P.max_force;

      } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation1_LowerSat) {

        dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation1_LowerSat;

      } else {

        dx_hand_model_B.Switch_n = dx_hand_model_B.yD;

      }



      /* End of Saturate: '<S41>/Saturation1' */

    } else if (dx_hand_model_B.yD > dx_hand_model_P.Saturation2_UpperSat) {

      /* Saturate: '<S41>/Saturation2' */

      dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation2_UpperSat;

    } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation2_LowerSat) {

      /* Saturate: '<S41>/Saturation2' */

      dx_hand_model_B.Switch_n = dx_hand_model_P.Saturation2_LowerSat;

    } else {

      /* Saturate: '<S41>/Saturation2' */

      dx_hand_model_B.Switch_n = dx_hand_model_B.yD;

    }



    /* End of Switch: '<S41>/Switch' */

  } else {

    dx_hand_model_B.Switch_n = dx_hand_model_P.Constant_Value_k;

  }



  /* End of Switch: '<S33>/Switch' */



  /* ManualSwitch: '<S37>/Manual Switch' incorporates:

   *  Constant: '<S37>/Constant'

   *  Constant: '<S37>/Constant3'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_d == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_ht;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value;

  }



  /* End of ManualSwitch: '<S37>/Manual Switch' */



  /* Outputs for Enabled SubSystem: '<S37>/Record' incorporates:

   *  EnablePort: '<S54>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* SignalConversion: '<S54>/TmpSignal ConversionAtTo WorkspaceInport1' */

    dx_hand_model_B.TmpSignalConversionAtTo_ofc[0] = dx_hand_model_B.Saturation3;

    dx_hand_model_B.TmpSignalConversionAtTo_ofc[1] = dx_hand_model_B.Saturation2;

    memcpy(&dx_hand_model_B.TmpSignalConversionAtTo_ofc[2],

           &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {

      dx_hand_model_B.TmpSignalConversionAtTo_ofc[dx_hand_model_B.i + 20] =

        dx_hand_model_B.y_f[dx_hand_model_B.i];

    }



    /* End of SignalConversion: '<S54>/TmpSignal ConversionAtTo WorkspaceInport1' */

  }



  /* End of Outputs for SubSystem: '<S37>/Record' */



  /* Start for MATLABSystem: '<S50>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S50>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_2630.set_parameter((real_T)dx_hand_model_B.Delay_m[13]);



  /* RateTransition: '<S78>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_pi =

      dx_hand_model_DW.RateTransition_Buffer0_m;

  }



  /* End of RateTransition: '<S78>/Rate Transition' */



  /* DiscreteTransferFcn: '<S84>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_g[1] *

      dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k];

    dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S84>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_i = dx_hand_model_DW.RateTransition_Buffer0_c;

  }



  /* End of RateTransition: '<S84>/Rate Transition' */



  /* Gain: '<S94>/Gain  Aggiustato' */

  dx_hand_model_B.xH = dx_hand_model_P.GainAggiustato_Gain_m4 *

    dx_hand_model_B.Delay_m[9];



  /* Saturate: '<S81>/Saturation2' */

  if (dx_hand_model_B.xH > dx_hand_model_P.Saturation2_UpperSat_j) {

    dx_hand_model_B.xH = dx_hand_model_P.Saturation2_UpperSat_j;

  } else {

    if (dx_hand_model_B.xH < dx_hand_model_P.Saturation2_LowerSat_f) {

      dx_hand_model_B.xH = dx_hand_model_P.Saturation2_LowerSat_f;

    }

  }



  /* End of Saturate: '<S81>/Saturation2' */



  /* RateTransition: '<S92>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_d =

      dx_hand_model_DW.RateTransition_Buffer0_mu;

  }



  /* End of RateTransition: '<S92>/Rate Transition' */



  /* ManualSwitch: '<S92>/Manual Switch' incorporates:

   *  Constant: '<S92>/Constant1'

   *  DataTypeConversion: '<S92>/Data Type Conversion1'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_dn == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_d;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_n;

  }



  /* End of ManualSwitch: '<S92>/Manual Switch' */



  /* Sum: '<S92>/Sum1' incorporates:

   *  Constant: '<S92>/Constant'

   *  Gain: '<S92>/Gain Aggiustato'

   *  Sum: '<S92>/Sum2'

   */

  dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_p -

    (dx_hand_model_B.Delay_m[14] - dx_hand_model_B.t4_o) *

    dx_hand_model_P.GainAggiustato_Gain_jj;



  /* Saturate: '<S81>/Saturation3' */

  if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_i) {

    dx_hand_model_B.yI = dx_hand_model_P.Saturation3_UpperSat_i;

  } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_m) {

    dx_hand_model_B.yI = dx_hand_model_P.Saturation3_LowerSat_m;

  } else {

    dx_hand_model_B.yI = dx_hand_model_B.Sum_a;

  }



  /* End of Saturate: '<S81>/Saturation3' */



  /* RateTransition: '<S81>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {

      dx_hand_model_B.RateTransition_ie[dx_hand_model_B.i] =

        dx_hand_model_DW.RateTransition_Buffer0_dg[dx_hand_model_B.i];

    }

  }



  /* End of RateTransition: '<S81>/Rate Transition' */



  /* MATLAB Function: '<S96>/Middle Parameters' */

  dx_hand_model_B.y_e[0] = dx_hand_model_B.RateTransition_ie[0];

  dx_hand_model_B.y_e[1] = dx_hand_model_B.RateTransition_ie[1];

  dx_hand_model_B.y_e[2] = dx_hand_model_B.RateTransition_ie[2];

  dx_hand_model_B.y_e[3] = dx_hand_model_B.RateTransition_ie[3];

  dx_hand_model_B.y_e[4] = 18.0;

  dx_hand_model_B.y_e[5] = 41.0;

  dx_hand_model_B.y_e[6] = 9.0;

  dx_hand_model_B.y_e[7] = 52.0;

  dx_hand_model_B.y_e[8] = 21.0;

  dx_hand_model_B.y_e[9] = 37.0;

  dx_hand_model_B.y_e[10] = 86.0;

  dx_hand_model_B.y_e[11] = 46.0;

  dx_hand_model_B.y_e[12] = 39.0;

  dx_hand_model_B.y_e[13] = 17.0;

  dx_hand_model_B.y_e[14] = 35.0;

  dx_hand_model_B.y_e[15] = 27.0;

  dx_hand_model_B.y_e[16] = 117.0;

  dx_hand_model_B.y_e[17] = 98.0;



  /* DataTypeConversion: '<S96>/Data Type Conversion1' */

  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {

    dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)

      dx_hand_model_B.y_e[dx_hand_model_B.i];

  }



  /* End of DataTypeConversion: '<S96>/Data Type Conversion1' */



  /* MATLAB Function: '<S81>/Middle Direct Kinematics' */

  dx_h_MiddleDirectKinematics(dx_hand_model_B.xH, dx_hand_model_B.yI,

    dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_MiddleDirectKinematics);



  /* MATLAB Function: '<S80>/Middle Jacobian ' */

  dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_MiddleDirectKinematics.y,

    dx_hand_model_B.yI, dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_MiddleJacobian);



  /* UnitDelay: '<S80>/Unit Delay3' */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =

    dx_hand_model_DW.UnitDelay3_DSTATE_k[0];

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =

    dx_hand_model_DW.UnitDelay3_DSTATE_k[1];



  /* MATLAB Function: '<S80>/Middle Jacobian' incorporates:

   *  UnitDelay: '<S80>/Unit Delay1'

   */

  dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_MiddleDirectKinematics.y,

    dx_hand_model_B.xH, dx_hand_model_B.yI,

    dx_hand_model_B.DataTypeConversion1_d,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    dx_hand_model_DW.UnitDelay1_DSTATE_e, &dx_hand_model_B.sf_MiddleJacobian_o);



  /* ManualSwitch: '<S80>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_m == 1) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[1];

  } else {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[1];

  }



  /* Memory: '<S84>/Memory' */

  dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_k[0];

  dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_k[1];



  /* ManualSwitch: '<S80>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_m == 1) {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_MiddleJacobian.JTcomp[3];

  } else {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_MiddleJacobian_o.JTcomp[3];

  }



  /* Memory: '<S84>/Memory' */

  dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_k[2];

  dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_k[3];



  /* MATLAB Function: '<S84>/IsNan ' */

  dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,

                      &dx_hand_model_B.sf_IsNan_d);



  /* Switch: '<S84>/Switch' incorporates:

   *  DataTypeConversion: '<S84>/Data Type Conversion1'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_i >

      dx_hand_model_P.Switch_Threshold_fu) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];

  } else {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_IsNan_d.J[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_IsNan_d.J[1];

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_IsNan_d.J[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_IsNan_d.J[3];

  }



  /* End of Switch: '<S84>/Switch' */



  /* RateTransition: '<S119>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_gd =

      dx_hand_model_DW.RateTransition_Buffer0_n;

  }



  /* End of RateTransition: '<S119>/Rate Transition' */



  /* DiscreteTransferFcn: '<S29>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_k[1] *

      dx_hand_model_DW.Filt4_states_n;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S29>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_iy)) {

    dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[5];

  }



  /* End of Switch: '<S29>/Switch' */



  /* RateTransition: '<S87>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ii =

      dx_hand_model_DW.RateTransition_Buffer0_nl;

  }



  /* End of RateTransition: '<S87>/Rate Transition' */



  /* Product: '<S87>/Product' incorporates:

   *  DataTypeConversion: '<S87>/Data Type Conversion1'

   */

  dx_hand_model_B.Saturation2 = (real32_T)dx_hand_model_B.RateTransition_ii *

    dx_hand_model_B.sf_MiddleDirectKinematics.y[0];



  /* Saturate: '<S83>/Saturation3' */

  if (dx_hand_model_B.Saturation2 > dx_hand_model_P.Saturation3_UpperSat_p) {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_UpperSat_p;

  } else if (dx_hand_model_B.Saturation2 <

             dx_hand_model_P.Saturation3_LowerSat_mt) {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_LowerSat_mt;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Saturation2;

  }



  /* End of Saturate: '<S83>/Saturation3' */



  /* RateTransition: '<S120>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_po =

      dx_hand_model_DW.RateTransition_Buffer0_az;

  }



  /* End of RateTransition: '<S120>/Rate Transition' */



  /* DiscreteTransferFcn: '<S28>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_P.Filt4_NumCoef_cz[1] *

      dx_hand_model_DW.Filt4_states_b;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S28>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_bb)) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_B.DataTypeConversion2[4];

  }



  /* End of Switch: '<S28>/Switch' */



  /* RateTransition: '<S88>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_aj =

      dx_hand_model_DW.RateTransition_Buffer0_jv;

  }



  /* End of RateTransition: '<S88>/Rate Transition' */



  /* Product: '<S88>/Product' incorporates:

   *  DataTypeConversion: '<S88>/Data Type Conversion1'

   */

  dx_hand_model_B.yD = (real32_T)dx_hand_model_B.RateTransition_aj *

    dx_hand_model_B.sf_MiddleDirectKinematics.y[1];



  /* Saturate: '<S83>/Saturation4' */

  if (dx_hand_model_B.yD > dx_hand_model_P.Saturation4_UpperSat_n) {

    dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_UpperSat_n;

  } else if (dx_hand_model_B.yD < dx_hand_model_P.Saturation4_LowerSat_o) {

    dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_LowerSat_o;

  } else {

    dx_hand_model_B.Product_k = dx_hand_model_B.yD;

  }



  /* End of Saturate: '<S83>/Saturation4' */



  /* RateTransition: '<S121>/Rate Transition' incorporates:

   *  RateTransition: '<S117>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_oh =

      dx_hand_model_DW.RateTransition_Buffer0_at;

    dx_hand_model_B.RateTransition_bq =

      dx_hand_model_DW.RateTransition_Buffer0_bq;

  }



  /* End of RateTransition: '<S121>/Rate Transition' */



  /* SampleTimeMath: '<S113>/TSamp'

   *

   * About '<S113>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LBD = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_h;



  /* SampleTimeMath: '<S111>/TSamp'

   *

   * About '<S111>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.xD = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_P.TSamp_WtEt_e;



  /* RateTransition: '<S122>/Rate Transition' incorporates:

   *  RateTransition: '<S118>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_m = dx_hand_model_DW.RateTransition_Buffer0_i;

    dx_hand_model_B.RateTransition_pa =

      dx_hand_model_DW.RateTransition_Buffer0_no;

  }



  /* End of RateTransition: '<S122>/Rate Transition' */



  /* SampleTimeMath: '<S114>/TSamp'

   *

   * About '<S114>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LDF = dx_hand_model_B.Saturation4_f *

    dx_hand_model_P.TSamp_WtEt_n;



  /* SampleTimeMath: '<S112>/TSamp'

   *

   * About '<S112>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.xC = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt_i;



  /* Switch: '<S117>/Switch' incorporates:

   *  Constant: '<S117>/Constant'

   *  DataTypeConversion: '<S117>/Data Type Conversion1'

   *  Sum: '<S113>/Diff'

   *  UnitDelay: '<S113>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_bq >

      dx_hand_model_P.Switch_Threshold_j) {

    dx_hand_model_B.t4_o = dx_hand_model_B.LBD - dx_hand_model_DW.UD_DSTATE_l;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_d;

  }



  /* End of Switch: '<S117>/Switch' */



  /* Sum: '<S83>/Sum2' incorporates:

   *  DataTypeConversion: '<S119>/Data Type Conversion1'

   *  DataTypeConversion: '<S121>/Data Type Conversion1'

   *  Product: '<S119>/Product'

   *  Product: '<S121>/Product'

   *  Sum: '<S111>/Diff'

   *  Sum: '<S83>/Sum'

   *  Sum: '<S83>/Sum3'

   *  UnitDelay: '<S111>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.xD - dx_hand_model_DW.UD_DSTATE_f)) * (real32_T)

    dx_hand_model_B.RateTransition_oh + (dx_hand_model_B.Sum_a -

    dx_hand_model_B.DataTypeConversion5_n) * (real32_T)

    dx_hand_model_B.RateTransition_gd;



  /* Switch: '<S118>/Switch' incorporates:

   *  Constant: '<S118>/Constant'

   *  DataTypeConversion: '<S118>/Data Type Conversion1'

   *  Sum: '<S114>/Diff'

   *  UnitDelay: '<S114>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_pa >

      dx_hand_model_P.Switch_Threshold_l4) {

    dx_hand_model_B.t4_o = dx_hand_model_B.LDF - dx_hand_model_DW.UD_DSTATE_f0;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ez;

  }



  /* End of Switch: '<S118>/Switch' */



  /* Sum: '<S83>/Sum2' incorporates:

   *  DataTypeConversion: '<S120>/Data Type Conversion1'

   *  DataTypeConversion: '<S122>/Data Type Conversion1'

   *  Product: '<S120>/Product'

   *  Product: '<S122>/Product'

   *  Sum: '<S112>/Diff'

   *  Sum: '<S83>/Sum1'

   *  Sum: '<S83>/Sum4'

   *  UnitDelay: '<S112>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.xC - dx_hand_model_DW.UD_DSTATE_dy)) * (real32_T)

    dx_hand_model_B.RateTransition_m + (dx_hand_model_B.Saturation4_f -

    dx_hand_model_B.Product_k) * (real32_T)dx_hand_model_B.RateTransition_po;



  /* MATLAB Function: '<S83>/Optimized_Static_Problem' */

  Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Optimized_Static_Problem_b);



  /* RateTransition: '<S116>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_k2 =

      dx_hand_model_DW.RateTransition_Buffer0_lh;

  }



  /* End of RateTransition: '<S116>/Rate Transition' */



  /* MATLAB Function: '<S83>/Classic_Static_Problem' */

  dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Classic_Static_Problem_a);



  /* RateTransition: '<S79>/Rate Transition' incorporates:

   *  RateTransition: '<S109>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_d1 =

      dx_hand_model_DW.RateTransition_Buffer0_ex;

    dx_hand_model_B.RateTransition_mp =

      dx_hand_model_DW.RateTransition_Buffer0_bv;

  }



  /* End of RateTransition: '<S79>/Rate Transition' */



  /* ManualSwitch: '<S109>/Manual Switch' incorporates:

   *  Constant: '<S109>/Constant'

   *  DataTypeConversion: '<S109>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_f == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_mp;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_hp;

  }



  /* End of ManualSwitch: '<S109>/Manual Switch' */



  /* DataTypeConversion: '<S109>/Data Type Conversion1' incorporates:

   *  Gain: '<S106>/Gain'

   *  Gain: '<S106>/Gain2'

   *  Gain: '<S106>/Gain3'

   *  Product: '<S109>/Product'

   */

  dx_hand_model_B.yH = (real32_T)(dx_hand_model_P.Gain_Gain_m *

    dx_hand_model_B.In1_e.Data[5] * dx_hand_model_P.Gain2_Gain *

    dx_hand_model_P.Gain3_Gain * dx_hand_model_B.t4_o);



  /* RateTransition: '<S108>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_k3 =

      dx_hand_model_DW.RateTransition_Buffer0_co;

  }



  /* End of RateTransition: '<S108>/Rate Transition' */



  /* ManualSwitch: '<S108>/Manual Switch' incorporates:

   *  Constant: '<S108>/Constant'

   *  DataTypeConversion: '<S108>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_mr == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_k3;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_jt;

  }



  /* End of ManualSwitch: '<S108>/Manual Switch' */



  /* Product: '<S108>/Product' incorporates:

   *  Gain: '<S106>/Gain1'

   *  Gain: '<S106>/Gain4'

   *  Gain: '<S106>/Gain5'

   */

  dx_hand_model_B.Switch = dx_hand_model_P.Gain1_Gain_a *

    dx_hand_model_B.In1_e.Data[4] * dx_hand_model_P.Gain4_Gain *

    dx_hand_model_P.Gain5_Gain * dx_hand_model_B.t4_o;



  /* MATLAB Function: '<S82>/Optimized_Static_Problem' incorporates:

   *  DataTypeConversion: '<S108>/Data Type Conversion1'

   */

  dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i, dx_hand_model_B.yH,

    (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Optimized_Static_Problem_d);



  /* RateTransition: '<S107>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_fg =

      dx_hand_model_DW.RateTransition_Buffer0_py;

  }



  /* End of RateTransition: '<S107>/Rate Transition' */



  /* MATLAB Function: '<S82>/Classic_Static_Problem' incorporates:

   *  DataTypeConversion: '<S108>/Data Type Conversion1'

   */

  dx_Classic_Static_Problem_d(dx_hand_model_B.Switch_i, dx_hand_model_B.yH,

    (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Classic_Static_Problem_d);



  /* Switch: '<S79>/Switch' incorporates:

   *  DataTypeConversion: '<S107>/Data Type Conversion1'

   *  DataTypeConversion: '<S79>/Data Type Conversion1'

   *  Switch: '<S107>/Switch'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_d1 >

      dx_hand_model_P.Switch_Threshold_km) {

    /* Switch: '<S116>/Switch' incorporates:

     *  DataTypeConversion: '<S116>/Data Type Conversion1'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_k2 >

        dx_hand_model_P.Switch_Threshold_g) {

      dx_hand_model_B.yH = dx_hand_model_B.sf_Optimized_Static_Problem_b.y;

    } else {

      dx_hand_model_B.yH = dx_hand_model_B.sf_Classic_Static_Problem_a.rate;

    }



    /* End of Switch: '<S116>/Switch' */

  } else if ((real32_T)dx_hand_model_B.RateTransition_fg >

             dx_hand_model_P.Switch_Threshold_b1) {

    /* Switch: '<S107>/Switch' */

    dx_hand_model_B.yH = dx_hand_model_B.sf_Optimized_Static_Problem_d.y;

  } else {

    dx_hand_model_B.yH = dx_hand_model_B.sf_Classic_Static_Problem_d.y;

  }



  /* End of Switch: '<S79>/Switch' */



  /* RateTransition: '<S89>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ps =

      dx_hand_model_DW.RateTransition_Buffer0_gb;

  }



  /* End of RateTransition: '<S89>/Rate Transition' */



  /* Switch: '<S78>/Switch' incorporates:

   *  Constant: '<S78>/Constant'

   *  DataTypeConversion: '<S78>/Data Type Conversion1'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_pi >

      dx_hand_model_P.Switch_Threshold_h) {

    /* Switch: '<S89>/Switch' incorporates:

     *  DataTypeConversion: '<S89>/Data Type Conversion1'

     *  Saturate: '<S89>/Saturation2'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_ps >

        dx_hand_model_P.Switch_Threshold_bv) {

      /* Saturate: '<S89>/Saturation1' */

      if (dx_hand_model_B.yH > dx_hand_model_P.max_force) {

        dx_hand_model_B.yH = dx_hand_model_P.max_force;

      } else {

        if (dx_hand_model_B.yH < dx_hand_model_P.Saturation1_LowerSat_b) {

          dx_hand_model_B.yH = dx_hand_model_P.Saturation1_LowerSat_b;

        }

      }



      /* End of Saturate: '<S89>/Saturation1' */

    } else if (dx_hand_model_B.yH > dx_hand_model_P.Saturation2_UpperSat_i) {

      /* Saturate: '<S89>/Saturation2' */

      dx_hand_model_B.yH = dx_hand_model_P.Saturation2_UpperSat_i;

    } else {

      if (dx_hand_model_B.yH < dx_hand_model_P.Saturation2_LowerSat_m) {

        /* Saturate: '<S89>/Saturation2' */

        dx_hand_model_B.yH = dx_hand_model_P.Saturation2_LowerSat_m;

      }

    }



    /* End of Switch: '<S89>/Switch' */

  } else {

    dx_hand_model_B.yH = dx_hand_model_P.Constant_Value_ev;

  }



  /* End of Switch: '<S78>/Switch' */



  /* ManualSwitch: '<S81>/Manual Switch' incorporates:

   *  Constant: '<S81>/Constant'

   *  Constant: '<S81>/Constant3'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_g == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_j;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_l;

  }



  /* End of ManualSwitch: '<S81>/Manual Switch' */



  /* Outputs for Enabled SubSystem: '<S81>/Record' incorporates:

   *  EnablePort: '<S98>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* SignalConversion: '<S98>/TmpSignal ConversionAtTo WorkspaceInport1' */

    dx_hand_model_B.TmpSignalConversionAtToW_of[0] = dx_hand_model_B.xH;

    dx_hand_model_B.TmpSignalConversionAtToW_of[1] = dx_hand_model_B.yI;

    memcpy(&dx_hand_model_B.TmpSignalConversionAtToW_of[2],

           &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {

      dx_hand_model_B.TmpSignalConversionAtToW_of[dx_hand_model_B.i + 20] =

        dx_hand_model_B.sf_MiddleDirectKinematics.y[dx_hand_model_B.i];

    }



    /* End of SignalConversion: '<S98>/TmpSignal ConversionAtTo WorkspaceInport1' */

  }



  /* End of Outputs for SubSystem: '<S81>/Record' */



  /* Start for MATLABSystem: '<S92>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S92>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_2567.set_parameter((real_T)dx_hand_model_B.Delay_m[14]);



  /* RateTransition: '<S124>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_a3 =

      dx_hand_model_DW.RateTransition_Buffer0_iv;

  }



  /* End of RateTransition: '<S124>/Rate Transition' */



  /* DiscreteTransferFcn: '<S131>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_a[1] *

      dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k];

    dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S131>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_k3g =

      dx_hand_model_DW.RateTransition_Buffer0_be;

  }



  /* End of RateTransition: '<S131>/Rate Transition' */



  /* Gain: '<S140>/Gain  Aggiustato' */

  dx_hand_model_B.Saturation2_k = dx_hand_model_P.GainAggiustato_Gain_nl *

    dx_hand_model_B.Delay_m[11];



  /* Saturate: '<S128>/Saturation2' */

  if (dx_hand_model_B.Saturation2_k > dx_hand_model_P.Saturation2_UpperSat_i4) {

    dx_hand_model_B.Saturation2_k = dx_hand_model_P.Saturation2_UpperSat_i4;

  } else {

    if (dx_hand_model_B.Saturation2_k < dx_hand_model_P.Saturation2_LowerSat_ky)

    {

      dx_hand_model_B.Saturation2_k = dx_hand_model_P.Saturation2_LowerSat_ky;

    }

  }



  /* End of Saturate: '<S128>/Saturation2' */



  /* RateTransition: '<S139>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_dn =

      dx_hand_model_DW.RateTransition_Buffer0_bz;

  }



  /* End of RateTransition: '<S139>/Rate Transition' */



  /* ManualSwitch: '<S139>/Manual Switch' incorporates:

   *  Constant: '<S139>/Constant1'

   *  DataTypeConversion: '<S139>/Data Type Conversion1'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_oo == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_dn;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_j;

  }



  /* End of ManualSwitch: '<S139>/Manual Switch' */



  /* Sum: '<S139>/Sum1' incorporates:

   *  Constant: '<S139>/Constant'

   *  Gain: '<S139>/Gain Aggiustato'

   *  Sum: '<S139>/Sum2'

   */

  dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_ov -

    (dx_hand_model_B.Delay_m[15] - dx_hand_model_B.t4_o) *

    dx_hand_model_P.GainAggiustato_Gain_jt;



  /* Saturate: '<S128>/Saturation3' */

  if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_a) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Saturation3_UpperSat_a;

  } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_h) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Saturation3_LowerSat_h;

  } else {

    dx_hand_model_B.Saturation3_o = dx_hand_model_B.Sum_a;

  }



  /* End of Saturate: '<S128>/Saturation3' */



  /* RateTransition: '<S128>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {

      dx_hand_model_B.RateTransition_dw[dx_hand_model_B.i] =

        dx_hand_model_DW.RateTransition_Buffer0_k3[dx_hand_model_B.i];

    }

  }



  /* End of RateTransition: '<S128>/Rate Transition' */



  /* MATLAB Function: '<S143>/Pinky Parameters' */

  dx_hand_model_B.y_d[0] = dx_hand_model_B.RateTransition_dw[0];

  dx_hand_model_B.y_d[1] = dx_hand_model_B.RateTransition_dw[1];

  dx_hand_model_B.y_d[2] = dx_hand_model_B.RateTransition_dw[2];

  dx_hand_model_B.y_d[3] = dx_hand_model_B.RateTransition_dw[3];

  dx_hand_model_B.y_d[4] = 18.0;

  dx_hand_model_B.y_d[5] = 43.0;

  dx_hand_model_B.y_d[6] = 9.0;

  dx_hand_model_B.y_d[7] = 32.0;

  dx_hand_model_B.y_d[8] = 23.0;

  dx_hand_model_B.y_d[9] = 37.0;

  dx_hand_model_B.y_d[10] = 86.0;

  dx_hand_model_B.y_d[11] = 46.0;

  dx_hand_model_B.y_d[12] = 42.0;

  dx_hand_model_B.y_d[13] = 16.0;

  dx_hand_model_B.y_d[14] = 35.0;

  dx_hand_model_B.y_d[15] = 27.0;

  dx_hand_model_B.y_d[16] = 126.0;

  dx_hand_model_B.y_d[17] = 98.0;



  /* DataTypeConversion: '<S143>/Data Type Conversion1' */

  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {

    dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)

      dx_hand_model_B.y_d[dx_hand_model_B.i];

  }



  /* End of DataTypeConversion: '<S143>/Data Type Conversion1' */



  /* MATLAB Function: '<S128>/Pinky Direct Kinematics' */

  dx_h_MiddleDirectKinematics(dx_hand_model_B.Saturation2_k,

    dx_hand_model_B.Saturation3_o, dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_PinkyDirectKinematics);



  /* MATLAB Function: '<S127>/Pinky Jacobian ' */

  dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_PinkyDirectKinematics.y,

    dx_hand_model_B.Saturation3_o, dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_PinkyJacobian);



  /* UnitDelay: '<S127>/Unit Delay3' */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =

    dx_hand_model_DW.UnitDelay3_DSTATE_kr[0];

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =

    dx_hand_model_DW.UnitDelay3_DSTATE_kr[1];



  /* MATLAB Function: '<S127>/Pinky Jacobian' incorporates:

   *  UnitDelay: '<S127>/Unit Delay1'

   */

  dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_PinkyDirectKinematics.y,

    dx_hand_model_B.Saturation2_k, dx_hand_model_B.Saturation3_o,

    dx_hand_model_B.DataTypeConversion1_d,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    dx_hand_model_DW.UnitDelay1_DSTATE_g, &dx_hand_model_B.sf_PinkyJacobian_f);



  /* ManualSwitch: '<S127>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_mb == 1) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[1];

  } else {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[1];

  }



  /* Memory: '<S131>/Memory' */

  dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_kw[0];

  dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_kw[1];



  /* ManualSwitch: '<S127>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_mb == 1) {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_PinkyJacobian.JTcomp[3];

  } else {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_PinkyJacobian_f.JTcomp[3];

  }



  /* Memory: '<S131>/Memory' */

  dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_kw[2];

  dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_kw[3];



  /* MATLAB Function: '<S131>/IsNan ' */

  dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,

                      &dx_hand_model_B.sf_IsNan_i);



  /* Switch: '<S131>/Switch' incorporates:

   *  DataTypeConversion: '<S131>/Data Type Conversion1'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_k3g >

      dx_hand_model_P.Switch_Threshold_cm) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.Filt4_c[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.Filt4_c[1];

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.Filt4_c[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.Filt4_c[3];

  } else {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_IsNan_i.J[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_IsNan_i.J[1];

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_IsNan_i.J[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_IsNan_i.J[3];

  }



  /* End of Switch: '<S131>/Switch' */



  /* RateTransition: '<S164>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_p4 =

      dx_hand_model_DW.RateTransition_Buffer0_gk;

  }



  /* End of RateTransition: '<S164>/Rate Transition' */



  /* DiscreteTransferFcn: '<S30>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_o[1] *

      dx_hand_model_DW.Filt4_states_i;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S30>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_ea)) {

    dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[7];

  }



  /* End of Switch: '<S30>/Switch' */



  /* RateTransition: '<S134>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ng =

      dx_hand_model_DW.RateTransition_Buffer0_o;

  }



  /* End of RateTransition: '<S134>/Rate Transition' */



  /* Product: '<S134>/Product' incorporates:

   *  DataTypeConversion: '<S134>/Data Type Conversion1'

   */

  dx_hand_model_B.LDG = (real32_T)dx_hand_model_B.RateTransition_ng *

    dx_hand_model_B.sf_PinkyDirectKinematics.y[0];



  /* Saturate: '<S130>/Saturation3' */

  if (dx_hand_model_B.LDG > dx_hand_model_P.Saturation3_UpperSat_dr) {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_UpperSat_dr;

  } else if (dx_hand_model_B.LDG < dx_hand_model_P.Saturation3_LowerSat_o) {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_LowerSat_o;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.LDG;

  }



  /* End of Saturate: '<S130>/Saturation3' */



  /* RateTransition: '<S165>/Rate Transition' incorporates:

   *  RateTransition: '<S135>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ld =

      dx_hand_model_DW.RateTransition_Buffer0_ml;

    dx_hand_model_B.RateTransition_km =

      dx_hand_model_DW.RateTransition_Buffer0_hy;

  }



  /* End of RateTransition: '<S165>/Rate Transition' */



  /* Gain: '<S130>/Gain' */

  dx_hand_model_B.Saturation4_f = dx_hand_model_P.Gain_Gain_i *

    dx_hand_model_B.Sum_a;



  /* Product: '<S135>/Product' incorporates:

   *  DataTypeConversion: '<S135>/Data Type Conversion1'

   */

  dx_hand_model_B.Product_k = (real32_T)dx_hand_model_B.RateTransition_km *

    dx_hand_model_B.sf_PinkyDirectKinematics.y[1];



  /* Saturate: '<S130>/Saturation4' */

  if (dx_hand_model_B.Product_k > dx_hand_model_P.Saturation4_UpperSat_b) {

    dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_UpperSat_b;

  } else {

    if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation4_LowerSat_f) {

      dx_hand_model_B.Product_k = dx_hand_model_P.Saturation4_LowerSat_f;

    }

  }



  /* End of Saturate: '<S130>/Saturation4' */



  /* RateTransition: '<S166>/Rate Transition' incorporates:

   *  RateTransition: '<S162>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ky =

      dx_hand_model_DW.RateTransition_Buffer0_bh;

    dx_hand_model_B.RateTransition_e =

      dx_hand_model_DW.RateTransition_Buffer0_kj;

  }



  /* End of RateTransition: '<S166>/Rate Transition' */



  /* SampleTimeMath: '<S158>/TSamp'

   *

   * About '<S158>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.yI = dx_hand_model_B.Sum_a * dx_hand_model_P.TSamp_WtEt_dk;



  /* SampleTimeMath: '<S156>/TSamp'

   *

   * About '<S156>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.LLI = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_P.TSamp_WtEt_lr;



  /* RateTransition: '<S167>/Rate Transition' incorporates:

   *  RateTransition: '<S163>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ks =

      dx_hand_model_DW.RateTransition_Buffer0_bl;

    dx_hand_model_B.RateTransition_pgy =

      dx_hand_model_DW.RateTransition_Buffer0_hj;

  }



  /* End of RateTransition: '<S167>/Rate Transition' */



  /* SampleTimeMath: '<S159>/TSamp'

   *

   * About '<S159>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.temp = dx_hand_model_B.Saturation4_f *

    dx_hand_model_P.TSamp_WtEt_bc;



  /* SampleTimeMath: '<S157>/TSamp'

   *

   * About '<S157>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.xD1 = dx_hand_model_B.Product_k * dx_hand_model_P.TSamp_WtEt_f;



  /* Switch: '<S162>/Switch' incorporates:

   *  Constant: '<S162>/Constant'

   *  DataTypeConversion: '<S162>/Data Type Conversion1'

   *  Sum: '<S158>/Diff'

   *  UnitDelay: '<S158>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_e >

      dx_hand_model_P.Switch_Threshold_ha) {

    dx_hand_model_B.t4_o = dx_hand_model_B.yI - dx_hand_model_DW.UD_DSTATE_c;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ll;

  }



  /* End of Switch: '<S162>/Switch' */



  /* Sum: '<S130>/Sum2' incorporates:

   *  DataTypeConversion: '<S164>/Data Type Conversion1'

   *  DataTypeConversion: '<S166>/Data Type Conversion1'

   *  Product: '<S164>/Product'

   *  Product: '<S166>/Product'

   *  Sum: '<S130>/Sum'

   *  Sum: '<S130>/Sum3'

   *  Sum: '<S156>/Diff'

   *  UnitDelay: '<S156>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.LLI - dx_hand_model_DW.UD_DSTATE_ld)) * (real32_T)

    dx_hand_model_B.RateTransition_ky + (dx_hand_model_B.Sum_a -

    dx_hand_model_B.DataTypeConversion5_n) * (real32_T)

    dx_hand_model_B.RateTransition_p4;



  /* Switch: '<S163>/Switch' incorporates:

   *  Constant: '<S163>/Constant'

   *  DataTypeConversion: '<S163>/Data Type Conversion1'

   *  Sum: '<S159>/Diff'

   *  UnitDelay: '<S159>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_pgy >

      dx_hand_model_P.Switch_Threshold_p) {

    dx_hand_model_B.t4_o = dx_hand_model_B.temp - dx_hand_model_DW.UD_DSTATE_i;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ln;

  }



  /* End of Switch: '<S163>/Switch' */



  /* Sum: '<S130>/Sum2' incorporates:

   *  DataTypeConversion: '<S165>/Data Type Conversion1'

   *  DataTypeConversion: '<S167>/Data Type Conversion1'

   *  Product: '<S165>/Product'

   *  Product: '<S167>/Product'

   *  Sum: '<S130>/Sum1'

   *  Sum: '<S130>/Sum4'

   *  Sum: '<S157>/Diff'

   *  UnitDelay: '<S157>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.xD1 - dx_hand_model_DW.UD_DSTATE_a)) * (real32_T)

    dx_hand_model_B.RateTransition_ks + (dx_hand_model_B.Saturation4_f -

    dx_hand_model_B.Product_k) * (real32_T)dx_hand_model_B.RateTransition_ld;



  /* MATLAB Function: '<S130>/Optimized_Static_Problem' */

  Optimized_Static_Problem_e(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Optimized_Static_Problem_c);



  /* RateTransition: '<S161>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_o0 =

      dx_hand_model_DW.RateTransition_Buffer0_pe;

  }



  /* End of RateTransition: '<S161>/Rate Transition' */



  /* MATLAB Function: '<S130>/Classic_Static_Problem' */

  dx_h_Classic_Static_Problem(dx_hand_model_B.Switch_i,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Classic_Static_Problem_p);



  /* RateTransition: '<S126>/Rate Transition' incorporates:

   *  RateTransition: '<S154>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_bs =

      dx_hand_model_DW.RateTransition_Buffer0_li;

    dx_hand_model_B.RateTransition_a2 =

      dx_hand_model_DW.RateTransition_Buffer0_e0;

  }



  /* End of RateTransition: '<S126>/Rate Transition' */



  /* Gain: '<S151>/Gain2' incorporates:

   *  Gain: '<S151>/Gain1'

   *  Gain: '<S151>/Gain3'

   */

  dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Gain1_Gain_h *

    dx_hand_model_B.In1_e.Data[7] * dx_hand_model_P.Gain3_Gain_g *

    dx_hand_model_P.Gain2_Gain_l;



  /* ManualSwitch: '<S154>/Manual Switch' incorporates:

   *  Constant: '<S154>/Constant'

   *  DataTypeConversion: '<S154>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_ni == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_a2;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_j1;

  }



  /* End of ManualSwitch: '<S154>/Manual Switch' */



  /* DataTypeConversion: '<S154>/Data Type Conversion1' incorporates:

   *  Product: '<S154>/Product'

   */

  dx_hand_model_B.Product_k = (real32_T)(dx_hand_model_B.t4_o *

    dx_hand_model_B.ManualSwitch2);



  /* RateTransition: '<S153>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_pb =

      dx_hand_model_DW.RateTransition_Buffer0_h3;

  }



  /* End of RateTransition: '<S153>/Rate Transition' */



  /* ManualSwitch: '<S153>/Manual Switch' incorporates:

   *  Constant: '<S153>/Constant'

   *  DataTypeConversion: '<S153>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_k == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_pb;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_dk;

  }



  /* End of ManualSwitch: '<S153>/Manual Switch' */



  /* Product: '<S153>/Product' */

  dx_hand_model_B.Switch = dx_hand_model_B.t4_o * dx_hand_model_B.ManualSwitch2;



  /* MATLAB Function: '<S129>/Optimized_Static_Problem' incorporates:

   *  DataTypeConversion: '<S153>/Data Type Conversion1'

   */

  dx_Optimized_Static_Problem(dx_hand_model_B.Switch_i,

    dx_hand_model_B.Product_k, (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Optimized_Static_Problem_o);



  /* RateTransition: '<S152>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_lt =

      dx_hand_model_DW.RateTransition_Buffer0_kr;

  }



  /* End of RateTransition: '<S152>/Rate Transition' */



  /* MATLAB Function: '<S129>/Classic_Static_Problem' incorporates:

   *  DataTypeConversion: '<S153>/Data Type Conversion1'

   */

  dx_Classic_Static_Problem_d(dx_hand_model_B.Switch_i,

    dx_hand_model_B.Product_k, (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Classic_Static_Problem_m);



  /* Switch: '<S126>/Switch' incorporates:

   *  DataTypeConversion: '<S126>/Data Type Conversion1'

   *  DataTypeConversion: '<S152>/Data Type Conversion1'

   *  Switch: '<S152>/Switch'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_bs >

      dx_hand_model_P.Switch_Threshold_nt) {

    /* Switch: '<S161>/Switch' incorporates:

     *  DataTypeConversion: '<S161>/Data Type Conversion1'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_o0 >

        dx_hand_model_P.Switch_Threshold_nl) {

      dx_hand_model_B.Product_k =

        dx_hand_model_B.sf_Optimized_Static_Problem_c.y;

    } else {

      dx_hand_model_B.Product_k =

        dx_hand_model_B.sf_Classic_Static_Problem_p.rate;

    }



    /* End of Switch: '<S161>/Switch' */

  } else if ((real32_T)dx_hand_model_B.RateTransition_lt >

             dx_hand_model_P.Switch_Threshold_l) {

    /* Switch: '<S152>/Switch' */

    dx_hand_model_B.Product_k = dx_hand_model_B.sf_Optimized_Static_Problem_o.y;

  } else {

    dx_hand_model_B.Product_k = dx_hand_model_B.sf_Classic_Static_Problem_m.y;

  }



  /* End of Switch: '<S126>/Switch' */



  /* RateTransition: '<S136>/Rate Transition' incorporates:

   *  RateTransition: '<S125>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_k4 =

      dx_hand_model_DW.RateTransition_Buffer0_mx;

    dx_hand_model_B.RateTransition_em =

      dx_hand_model_DW.RateTransition_Buffer0_eg;

  }



  /* End of RateTransition: '<S136>/Rate Transition' */



  /* Switch: '<S124>/Switch' incorporates:

   *  Constant: '<S124>/Constant'

   *  DataTypeConversion: '<S124>/Data Type Conversion1'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_a3 >

      dx_hand_model_P.Switch_Threshold_gl) {

    /* Switch: '<S136>/Switch' incorporates:

     *  DataTypeConversion: '<S136>/Data Type Conversion1'

     *  Saturate: '<S136>/Saturation2'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_k4 >

        dx_hand_model_P.Switch_Threshold_nb) {

      /* Saturate: '<S136>/Saturation1' */

      if (dx_hand_model_B.Product_k > dx_hand_model_P.max_force) {

        dx_hand_model_B.Product_k = dx_hand_model_P.max_force;

      } else {

        if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation1_LowerSat_d)

        {

          dx_hand_model_B.Product_k = dx_hand_model_P.Saturation1_LowerSat_d;

        }

      }



      /* End of Saturate: '<S136>/Saturation1' */

    } else if (dx_hand_model_B.Product_k >

               dx_hand_model_P.Saturation2_UpperSat_iq) {

      /* Saturate: '<S136>/Saturation2' */

      dx_hand_model_B.Product_k = dx_hand_model_P.Saturation2_UpperSat_iq;

    } else {

      if (dx_hand_model_B.Product_k < dx_hand_model_P.Saturation2_LowerSat_mn) {

        /* Saturate: '<S136>/Saturation2' */

        dx_hand_model_B.Product_k = dx_hand_model_P.Saturation2_LowerSat_mn;

      }

    }



    /* End of Switch: '<S136>/Switch' */

  } else {

    dx_hand_model_B.Product_k = dx_hand_model_P.Constant_Value_l;

  }



  /* End of Switch: '<S124>/Switch' */



  /* ManualSwitch: '<S128>/Manual Switch' incorporates:

   *  Constant: '<S128>/Constant'

   *  Constant: '<S128>/Constant3'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_gu == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_gf;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_d;

  }



  /* End of ManualSwitch: '<S128>/Manual Switch' */



  /* Outputs for Enabled SubSystem: '<S128>/Record' incorporates:

   *  EnablePort: '<S144>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* SignalConversion: '<S144>/TmpSignal ConversionAtTo WorkspaceInport1' */

    dx_hand_model_B.TmpSignalConversionAtToWo_o[0] =

      dx_hand_model_B.Saturation2_k;

    dx_hand_model_B.TmpSignalConversionAtToWo_o[1] =

      dx_hand_model_B.Saturation3_o;

    memcpy(&dx_hand_model_B.TmpSignalConversionAtToWo_o[2],

           &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {

      dx_hand_model_B.TmpSignalConversionAtToWo_o[dx_hand_model_B.i + 20] =

        dx_hand_model_B.sf_PinkyDirectKinematics.y[dx_hand_model_B.i];

    }



    /* End of SignalConversion: '<S144>/TmpSignal ConversionAtTo WorkspaceInport1' */

  }



  /* End of Outputs for SubSystem: '<S128>/Record' */



  /* Start for MATLABSystem: '<S139>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S139>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_4620.set_parameter((real_T)dx_hand_model_B.Delay_m[15]);



  /* RateTransition: '<S169>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_fh =

      dx_hand_model_DW.RateTransition_Buffer0_nv;

  }



  /* End of RateTransition: '<S169>/Rate Transition' */



  /* DiscreteTransferFcn: '<S176>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Saturation3_o = dx_hand_model_P.Filt4_NumCoef_go[1] *

      dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k];

    dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = dx_hand_model_B.Saturation3_o;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S176>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_nv =

      dx_hand_model_DW.RateTransition_Buffer0_ad;

  }



  /* End of RateTransition: '<S176>/Rate Transition' */



  /* Gain: '<S185>/Gain  Aggiustato' */

  dx_hand_model_B.Saturation2_e = dx_hand_model_P.GainAggiustato_Gain_cm *

    dx_hand_model_B.Delay_m[10];



  /* Saturate: '<S173>/Saturation2' */

  if (dx_hand_model_B.Saturation2_e > dx_hand_model_P.Saturation2_UpperSat_i0) {

    dx_hand_model_B.Saturation2_e = dx_hand_model_P.Saturation2_UpperSat_i0;

  } else {

    if (dx_hand_model_B.Saturation2_e < dx_hand_model_P.Saturation2_LowerSat_i)

    {

      dx_hand_model_B.Saturation2_e = dx_hand_model_P.Saturation2_LowerSat_i;

    }

  }



  /* End of Saturate: '<S173>/Saturation2' */



  /* RateTransition: '<S184>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_op =

      dx_hand_model_DW.RateTransition_Buffer0_or;

  }



  /* End of RateTransition: '<S184>/Rate Transition' */



  /* ManualSwitch: '<S184>/Manual Switch' incorporates:

   *  Constant: '<S184>/Constant1'

   *  DataTypeConversion: '<S184>/Data Type Conversion1'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_db == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_op;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_g;

  }



  /* End of ManualSwitch: '<S184>/Manual Switch' */



  /* Sum: '<S184>/Sum1' incorporates:

   *  Constant: '<S184>/Constant'

   *  Gain: '<S184>/Gain Aggiustato'

   *  Sum: '<S184>/Sum2'

   */

  dx_hand_model_B.Sum_a = dx_hand_model_P.Constant_Value_pw -

    (dx_hand_model_B.Delay_m[16] - dx_hand_model_B.t4_o) *

    dx_hand_model_P.GainAggiustato_Gain_ju;



  /* Saturate: '<S173>/Saturation3' */

  if (dx_hand_model_B.Sum_a > dx_hand_model_P.Saturation3_UpperSat_o) {

    dx_hand_model_B.t1313 = dx_hand_model_P.Saturation3_UpperSat_o;

  } else if (dx_hand_model_B.Sum_a < dx_hand_model_P.Saturation3_LowerSat_i) {

    dx_hand_model_B.t1313 = dx_hand_model_P.Saturation3_LowerSat_i;

  } else {

    dx_hand_model_B.t1313 = dx_hand_model_B.Sum_a;

  }



  /* End of Saturate: '<S173>/Saturation3' */



  /* RateTransition: '<S173>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 5; dx_hand_model_B.i++) {

      dx_hand_model_B.RateTransition_m0[dx_hand_model_B.i] =

        dx_hand_model_DW.RateTransition_Buffer0_pk[dx_hand_model_B.i];

    }

  }



  /* End of RateTransition: '<S173>/Rate Transition' */



  /* MATLAB Function: '<S189>/Ring Parameters' */

  dx_hand_model_B.y[0] = dx_hand_model_B.RateTransition_m0[0];

  dx_hand_model_B.y[1] = dx_hand_model_B.RateTransition_m0[1];

  dx_hand_model_B.y[2] = dx_hand_model_B.RateTransition_m0[2];

  dx_hand_model_B.y[3] = dx_hand_model_B.RateTransition_m0[3];

  dx_hand_model_B.y[4] = 18.0;

  dx_hand_model_B.y[5] = 42.0;

  dx_hand_model_B.y[6] = 10.0;

  dx_hand_model_B.y[7] = 38.0;

  dx_hand_model_B.y[8] = 29.0;

  dx_hand_model_B.y[9] = 37.0;

  dx_hand_model_B.y[10] = 86.0;

  dx_hand_model_B.y[11] = 46.0;

  dx_hand_model_B.y[12] = 39.0;

  dx_hand_model_B.y[13] = 16.0;

  dx_hand_model_B.y[14] = 35.0;

  dx_hand_model_B.y[15] = 27.0;

  dx_hand_model_B.y[16] = 122.0;

  dx_hand_model_B.y[17] = 98.0;



  /* DataTypeConversion: '<S189>/Data Type Conversion1' */

  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 18; dx_hand_model_B.i++) {

    dx_hand_model_B.DataTypeConversion1_d[dx_hand_model_B.i] = (real32_T)

      dx_hand_model_B.y[dx_hand_model_B.i];

  }



  /* End of DataTypeConversion: '<S189>/Data Type Conversion1' */



  /* MATLAB Function: '<S173>/Ring Direct Kinematics' */

  dx_h_MiddleDirectKinematics(dx_hand_model_B.Saturation2_e,

    dx_hand_model_B.t1313, dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_RingDirectKinematics);



  /* MATLAB Function: '<S172>/Ring Jacobian ' */

  dx_hand_mo_MiddleJacobian_g(dx_hand_model_B.sf_RingDirectKinematics.y,

    dx_hand_model_B.t1313, dx_hand_model_B.DataTypeConversion1_d,

    &dx_hand_model_B.sf_RingJacobian);



  /* UnitDelay: '<S172>/Unit Delay3' */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] =

    dx_hand_model_DW.UnitDelay3_DSTATE_a[0];

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =

    dx_hand_model_DW.UnitDelay3_DSTATE_a[1];



  /* MATLAB Function: '<S172>/Ring Jacobian' incorporates:

   *  UnitDelay: '<S172>/Unit Delay1'

   */

  dx_hand_mode_MiddleJacobian(dx_hand_model_B.sf_RingDirectKinematics.y,

    dx_hand_model_B.Saturation2_e, dx_hand_model_B.t1313,

    dx_hand_model_B.DataTypeConversion1_d,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    dx_hand_model_DW.UnitDelay1_DSTATE_i, &dx_hand_model_B.sf_RingJacobian_e);



  /* ManualSwitch: '<S172>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_h == 1) {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_RingJacobian.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_RingJacobian.JTcomp[1];

  } else {

    dx_hand_model_B.Switch_i[0] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[0];

    dx_hand_model_B.Switch_i[1] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[1];

  }



  /* Memory: '<S176>/Memory' */

  dx_hand_model_B.Memory_d[0] = dx_hand_model_DW.Memory_PreviousInput_b[0];

  dx_hand_model_B.Memory_d[1] = dx_hand_model_DW.Memory_PreviousInput_b[1];



  /* ManualSwitch: '<S172>/Manual Switch' */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_h == 1) {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_RingJacobian.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_RingJacobian.JTcomp[3];

  } else {

    dx_hand_model_B.Switch_i[2] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[2];

    dx_hand_model_B.Switch_i[3] = dx_hand_model_B.sf_RingJacobian_e.JTcomp[3];

  }



  /* Memory: '<S176>/Memory' */

  dx_hand_model_B.Memory_d[2] = dx_hand_model_DW.Memory_PreviousInput_b[2];

  dx_hand_model_B.Memory_d[3] = dx_hand_model_DW.Memory_PreviousInput_b[3];



  /* MATLAB Function: '<S176>/IsNan ' */

  dx_hand_model_IsNan(dx_hand_model_B.Switch_i, dx_hand_model_B.Memory_d,

                      &dx_hand_model_B.sf_IsNan_l);



  /* Switch: '<S176>/Switch' incorporates:

   *  DataTypeConversion: '<S176>/Data Type Conversion1'

   */

  dx_hand_model_B.xneg = ((real32_T)dx_hand_model_B.RateTransition_nv >

    dx_hand_model_P.Switch_Threshold_dh);

  dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[0];

  if (!dx_hand_model_B.xneg) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[0];

  }



  dx_hand_model_B.Filt4_c[0] = dx_hand_model_B.Saturation4_f;

  dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[1];

  if (!dx_hand_model_B.xneg) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[1];

  }



  dx_hand_model_B.Filt4_c[1] = dx_hand_model_B.Saturation4_f;

  dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[2];

  if (!dx_hand_model_B.xneg) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[2];

  }



  dx_hand_model_B.Filt4_c[2] = dx_hand_model_B.Saturation4_f;

  dx_hand_model_B.Saturation4_f = dx_hand_model_B.Filt4_c[3];

  if (!dx_hand_model_B.xneg) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_B.sf_IsNan_l.J[3];

  }



  dx_hand_model_B.Filt4_c[3] = dx_hand_model_B.Saturation4_f;



  /* End of Switch: '<S176>/Switch' */



  /* RateTransition: '<S209>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_p2 =

      dx_hand_model_DW.RateTransition_Buffer0_jt;

  }



  /* End of RateTransition: '<S209>/Rate Transition' */



  /* DiscreteTransferFcn: '<S31>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Sum_a = dx_hand_model_P.Filt4_NumCoef_c2[1] *

      dx_hand_model_DW.Filt4_states_h;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S31>/Switch' incorporates:

   *  DataTypeConversion: '<S24>/Data Type Conversion1'

   */

  if (!((real32_T)dx_hand_model_B.RateTransition_gt >

        dx_hand_model_P.Switch_Threshold_lw)) {

    dx_hand_model_B.Sum_a = dx_hand_model_B.DataTypeConversion2[6];

  }



  /* End of Switch: '<S31>/Switch' */



  /* RateTransition: '<S179>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_pk =

      dx_hand_model_DW.RateTransition_Buffer0_oq;

  }



  /* End of RateTransition: '<S179>/Rate Transition' */



  /* Product: '<S179>/Product' incorporates:

   *  DataTypeConversion: '<S179>/Data Type Conversion1'

   */

  dx_hand_model_B.Product_f = (real32_T)dx_hand_model_B.RateTransition_pk *

    dx_hand_model_B.sf_RingDirectKinematics.y[0];



  /* Saturate: '<S175>/Saturation3' */

  if (dx_hand_model_B.Product_f > dx_hand_model_P.Saturation3_UpperSat_e) {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_UpperSat_e;

  } else if (dx_hand_model_B.Product_f < dx_hand_model_P.Saturation3_LowerSat_iw)

  {

    dx_hand_model_B.DataTypeConversion5_n =

      dx_hand_model_P.Saturation3_LowerSat_iw;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Product_f;

  }



  /* End of Saturate: '<S175>/Saturation3' */



  /* RateTransition: '<S210>/Rate Transition' incorporates:

   *  RateTransition: '<S180>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_no =

      dx_hand_model_DW.RateTransition_Buffer0_im;

    dx_hand_model_B.RateTransition_mi =

      dx_hand_model_DW.RateTransition_Buffer0_ea;

  }



  /* End of RateTransition: '<S210>/Rate Transition' */



  /* Gain: '<S175>/Gain' */

  dx_hand_model_B.Sum_nf = dx_hand_model_P.Gain_Gain_f * dx_hand_model_B.Sum_a;



  /* Product: '<S180>/Product' incorporates:

   *  DataTypeConversion: '<S180>/Data Type Conversion1'

   */

  dx_hand_model_B.Saturation4_f = (real32_T)dx_hand_model_B.RateTransition_mi *

    dx_hand_model_B.sf_RingDirectKinematics.y[1];



  /* Saturate: '<S175>/Saturation4' */

  if (dx_hand_model_B.Saturation4_f > dx_hand_model_P.Saturation4_UpperSat_h) {

    dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation4_UpperSat_h;

  } else {

    if (dx_hand_model_B.Saturation4_f < dx_hand_model_P.Saturation4_LowerSat_i)

    {

      dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation4_LowerSat_i;

    }

  }



  /* End of Saturate: '<S175>/Saturation4' */



  /* RateTransition: '<S211>/Rate Transition' incorporates:

   *  RateTransition: '<S207>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_c =

      dx_hand_model_DW.RateTransition_Buffer0_kpx;

    dx_hand_model_B.RateTransition_cc =

      dx_hand_model_DW.RateTransition_Buffer0_pu;

  }



  /* End of RateTransition: '<S211>/Rate Transition' */



  /* SampleTimeMath: '<S203>/TSamp'

   *

   * About '<S203>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.Saturation3_o = dx_hand_model_B.Sum_a *

    dx_hand_model_P.TSamp_WtEt_p;



  /* SampleTimeMath: '<S201>/TSamp'

   *

   * About '<S201>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.TSamp_cb = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_P.TSamp_WtEt_ll;



  /* RateTransition: '<S212>/Rate Transition' incorporates:

   *  RateTransition: '<S208>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_nc =

      dx_hand_model_DW.RateTransition_Buffer0_fb;

    dx_hand_model_B.RateTransition_jg =

      dx_hand_model_DW.RateTransition_Buffer0_ox;

  }



  /* End of RateTransition: '<S212>/Rate Transition' */



  /* SampleTimeMath: '<S204>/TSamp'

   *

   * About '<S204>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.TSamp_cm = dx_hand_model_B.Sum_nf *

    dx_hand_model_P.TSamp_WtEt_h4;



  /* SampleTimeMath: '<S202>/TSamp'

   *

   * About '<S202>/TSamp':

   *  y = u * K where K = 1 / ( w * Ts )

   */

  dx_hand_model_B.TSamp_g = dx_hand_model_B.Saturation4_f *

    dx_hand_model_P.TSamp_WtEt_k;



  /* Switch: '<S207>/Switch' incorporates:

   *  Constant: '<S207>/Constant'

   *  DataTypeConversion: '<S207>/Data Type Conversion1'

   *  Sum: '<S203>/Diff'

   *  UnitDelay: '<S203>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_cc >

      dx_hand_model_P.Switch_Threshold_o) {

    dx_hand_model_B.t4_o = dx_hand_model_B.Saturation3_o -

      dx_hand_model_DW.UD_DSTATE_j;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_i;

  }



  /* End of Switch: '<S207>/Switch' */



  /* Sum: '<S175>/Sum2' incorporates:

   *  DataTypeConversion: '<S209>/Data Type Conversion1'

   *  DataTypeConversion: '<S211>/Data Type Conversion1'

   *  Product: '<S209>/Product'

   *  Product: '<S211>/Product'

   *  Sum: '<S175>/Sum'

   *  Sum: '<S175>/Sum3'

   *  Sum: '<S201>/Diff'

   *  UnitDelay: '<S201>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.TSamp_cb - dx_hand_model_DW.UD_DSTATE_ds)) * (real32_T)

    dx_hand_model_B.RateTransition_c + (dx_hand_model_B.Sum_a -

    dx_hand_model_B.DataTypeConversion5_n) * (real32_T)

    dx_hand_model_B.RateTransition_p2;



  /* Switch: '<S208>/Switch' incorporates:

   *  Constant: '<S208>/Constant'

   *  DataTypeConversion: '<S208>/Data Type Conversion1'

   *  Sum: '<S204>/Diff'

   *  UnitDelay: '<S204>/UD'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_jg >

      dx_hand_model_P.Switch_Threshold_ef) {

    dx_hand_model_B.t4_o = dx_hand_model_B.TSamp_cm -

      dx_hand_model_DW.UD_DSTATE_m;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_cn;

  }



  /* End of Switch: '<S208>/Switch' */



  /* Sum: '<S175>/Sum2' incorporates:

   *  DataTypeConversion: '<S210>/Data Type Conversion1'

   *  DataTypeConversion: '<S212>/Data Type Conversion1'

   *  Product: '<S210>/Product'

   *  Product: '<S212>/Product'

   *  Sum: '<S175>/Sum1'

   *  Sum: '<S175>/Sum4'

   *  Sum: '<S202>/Diff'

   *  UnitDelay: '<S202>/UD'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (dx_hand_model_B.t4_o -

    (dx_hand_model_B.TSamp_g - dx_hand_model_DW.UD_DSTATE_k)) * (real32_T)

    dx_hand_model_B.RateTransition_nc + (dx_hand_model_B.Sum_nf -

    dx_hand_model_B.Saturation4_f) * (real32_T)dx_hand_model_B.RateTransition_no;



  /* MATLAB Function: '<S175>/Optimized_Static_Problem' */

  Optimized_Static_Problem_e(dx_hand_model_B.Filt4_c,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Optimized_Static_Problem_p);



  /* RateTransition: '<S206>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_e5 =

      dx_hand_model_DW.RateTransition_Buffer0_d5;

  }



  /* End of RateTransition: '<S206>/Rate Transition' */



  /* MATLAB Function: '<S175>/Classic_Static_Problem' */

  dx_h_Classic_Static_Problem(dx_hand_model_B.Filt4_c,

    dx_hand_model_B.TmpSignalConversionAtSFun_c,

    &dx_hand_model_B.sf_Classic_Static_Problem_b);



  /* RateTransition: '<S171>/Rate Transition' incorporates:

   *  RateTransition: '<S199>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_od =

      dx_hand_model_DW.RateTransition_Buffer0_ns;

    dx_hand_model_B.RateTransition_kg =

      dx_hand_model_DW.RateTransition_Buffer0_ap;

  }



  /* End of RateTransition: '<S171>/Rate Transition' */



  /* Gain: '<S196>/Gain2' incorporates:

   *  Gain: '<S196>/Gain1'

   *  Gain: '<S196>/Gain3'

   */

  dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Gain1_Gain_m *

    dx_hand_model_B.In1_e.Data[6] * dx_hand_model_P.Gain3_Gain_i *

    dx_hand_model_P.Gain2_Gain_n;



  /* ManualSwitch: '<S199>/Manual Switch' incorporates:

   *  Constant: '<S199>/Constant'

   *  DataTypeConversion: '<S199>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_kt == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_kg;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_c;

  }



  /* End of ManualSwitch: '<S199>/Manual Switch' */



  /* DataTypeConversion: '<S199>/Data Type Conversion1' incorporates:

   *  Product: '<S199>/Product'

   */

  dx_hand_model_B.Saturation4_f = (real32_T)(dx_hand_model_B.t4_o *

    dx_hand_model_B.ManualSwitch2);



  /* RateTransition: '<S198>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_nm =

      dx_hand_model_DW.RateTransition_Buffer0_jz;

  }



  /* End of RateTransition: '<S198>/Rate Transition' */



  /* ManualSwitch: '<S198>/Manual Switch' incorporates:

   *  Constant: '<S198>/Constant'

   *  DataTypeConversion: '<S198>/Data Type Conversion2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_oq == 1) {

    dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_nm;

  } else {

    dx_hand_model_B.t4_o = dx_hand_model_P.Constant_Value_ax;

  }



  /* End of ManualSwitch: '<S198>/Manual Switch' */



  /* Product: '<S198>/Product' */

  dx_hand_model_B.Switch = dx_hand_model_B.t4_o * dx_hand_model_B.ManualSwitch2;



  /* MATLAB Function: '<S174>/Optimized_Static_Problem' incorporates:

   *  DataTypeConversion: '<S198>/Data Type Conversion1'

   */

  dx_Optimized_Static_Problem(dx_hand_model_B.Filt4_c,

    dx_hand_model_B.Saturation4_f, (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Optimized_Static_Problem_ba);



  /* RateTransition: '<S197>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_cv =

      dx_hand_model_DW.RateTransition_Buffer0_lf;

  }



  /* End of RateTransition: '<S197>/Rate Transition' */



  /* MATLAB Function: '<S174>/Classic_Static_Problem' incorporates:

   *  DataTypeConversion: '<S198>/Data Type Conversion1'

   */

  dx_Classic_Static_Problem_d(dx_hand_model_B.Filt4_c,

    dx_hand_model_B.Saturation4_f, (real32_T)dx_hand_model_B.Switch,

    &dx_hand_model_B.sf_Classic_Static_Problem_n);



  /* Switch: '<S171>/Switch' incorporates:

   *  DataTypeConversion: '<S171>/Data Type Conversion1'

   *  DataTypeConversion: '<S197>/Data Type Conversion1'

   *  Switch: '<S197>/Switch'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_od >

      dx_hand_model_P.Switch_Threshold_gv) {

    /* Switch: '<S206>/Switch' incorporates:

     *  DataTypeConversion: '<S206>/Data Type Conversion1'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_e5 >

        dx_hand_model_P.Switch_Threshold_e) {

      dx_hand_model_B.Saturation4_f =

        dx_hand_model_B.sf_Optimized_Static_Problem_p.y;

    } else {

      dx_hand_model_B.Saturation4_f =

        dx_hand_model_B.sf_Classic_Static_Problem_b.rate;

    }



    /* End of Switch: '<S206>/Switch' */

  } else if ((real32_T)dx_hand_model_B.RateTransition_cv >

             dx_hand_model_P.Switch_Threshold_f) {

    /* Switch: '<S197>/Switch' */

    dx_hand_model_B.Saturation4_f =

      dx_hand_model_B.sf_Optimized_Static_Problem_ba.y;

  } else {

    dx_hand_model_B.Saturation4_f =

      dx_hand_model_B.sf_Classic_Static_Problem_n.y;

  }



  /* End of Switch: '<S171>/Switch' */



  /* RateTransition: '<S181>/Rate Transition' incorporates:

   *  RateTransition: '<S170>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_an =

      dx_hand_model_DW.RateTransition_Buffer0_eb;

    dx_hand_model_B.RateTransition_is =

      dx_hand_model_DW.RateTransition_Buffer0_m1;

  }



  /* End of RateTransition: '<S181>/Rate Transition' */



  /* Switch: '<S169>/Switch' incorporates:

   *  Constant: '<S169>/Constant'

   *  DataTypeConversion: '<S169>/Data Type Conversion1'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_fh >

      dx_hand_model_P.Switch_Threshold_m) {

    /* Switch: '<S181>/Switch' incorporates:

     *  DataTypeConversion: '<S181>/Data Type Conversion1'

     *  Saturate: '<S181>/Saturation2'

     */

    if ((real32_T)dx_hand_model_B.RateTransition_an >

        dx_hand_model_P.Switch_Threshold_k) {

      /* Saturate: '<S181>/Saturation1' */

      if (dx_hand_model_B.Saturation4_f > dx_hand_model_P.max_force) {

        dx_hand_model_B.Saturation4_f = dx_hand_model_P.max_force;

      } else {

        if (dx_hand_model_B.Saturation4_f <

            dx_hand_model_P.Saturation1_LowerSat_e) {

          dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation1_LowerSat_e;

        }

      }



      /* End of Saturate: '<S181>/Saturation1' */

    } else if (dx_hand_model_B.Saturation4_f >

               dx_hand_model_P.Saturation2_UpperSat_f) {

      /* Saturate: '<S181>/Saturation2' */

      dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation2_UpperSat_f;

    } else {

      if (dx_hand_model_B.Saturation4_f < dx_hand_model_P.Saturation2_LowerSat_b)

      {

        /* Saturate: '<S181>/Saturation2' */

        dx_hand_model_B.Saturation4_f = dx_hand_model_P.Saturation2_LowerSat_b;

      }

    }



    /* End of Switch: '<S181>/Switch' */

  } else {

    dx_hand_model_B.Saturation4_f = dx_hand_model_P.Constant_Value_o;

  }



  /* End of Switch: '<S169>/Switch' */



  /* ManualSwitch: '<S173>/Manual Switch' incorporates:

   *  Constant: '<S173>/Constant'

   *  Constant: '<S173>/Constant3'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_mc == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_a;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_e;

  }



  /* End of ManualSwitch: '<S173>/Manual Switch' */



  /* Outputs for Enabled SubSystem: '<S173>/Record' incorporates:

   *  EnablePort: '<S187>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* SignalConversion: '<S187>/TmpSignal ConversionAtTo WorkspaceInport1' */

    dx_hand_model_B.TmpSignalConversionAtToWork[0] =

      dx_hand_model_B.Saturation2_e;

    dx_hand_model_B.TmpSignalConversionAtToWork[1] = dx_hand_model_B.t1313;

    memcpy(&dx_hand_model_B.TmpSignalConversionAtToWork[2],

           &dx_hand_model_B.DataTypeConversion1_d[0], 18U * sizeof(real32_T));

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 8; dx_hand_model_B.i++) {

      dx_hand_model_B.TmpSignalConversionAtToWork[dx_hand_model_B.i + 20] =

        dx_hand_model_B.sf_RingDirectKinematics.y[dx_hand_model_B.i];

    }



    /* End of SignalConversion: '<S187>/TmpSignal ConversionAtTo WorkspaceInport1' */

  }



  /* End of Outputs for SubSystem: '<S173>/Record' */



  /* Start for MATLABSystem: '<S184>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S184>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_4323.set_parameter((real_T)dx_hand_model_B.Delay_m[16]);



  /* RateTransition: '<S279>/Rate Transition' incorporates:

   *  RateTransition: '<S268>/Rate Transition'

   *  RateTransition: '<S269>/Rate Transition'

   *  RateTransition: '<S280>/Rate Transition'

   *  RateTransition: '<S281>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_nk =

      dx_hand_model_DW.RateTransition_Buffer0_ly;

    dx_hand_model_B.RateTransition_mpf =

      dx_hand_model_DW.RateTransition_Buffer0_n4;

    dx_hand_model_B.RateTransition_ko =

      dx_hand_model_DW.RateTransition_Buffer0_gs;

    dx_hand_model_B.RateTransition_k0 =

      dx_hand_model_DW.RateTransition_Buffer0_kx;

    dx_hand_model_B.RateTransition_db =

      dx_hand_model_DW.RateTransition_Buffer0_dh;

  }



  /* End of RateTransition: '<S279>/Rate Transition' */



  /* ManualSwitch: '<S229>/Manual Switch2' incorporates:

   *  Constant: '<S229>/Constant'

   *  Constant: '<S268>/Constant'

   *  Gain: '<S268>/Gain Aggiustato'

   *  Sum: '<S268>/Sum1'

   *  Sum: '<S268>/Sum2'

   */

  if (dx_hand_model_P.ManualSwitch2_CurrentSetting == 1) {

    /* ManualSwitch: '<S268>/Manual Switch' incorporates:

     *  Constant: '<S268>/Constant1'

     *  DataTypeConversion: '<S268>/Data Type Conversion1'

     */

    if (dx_hand_model_P.ManualSwitch_CurrentSetting_j == 1) {

      dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_k0;

    } else {

      dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_g4;

    }



    /* End of ManualSwitch: '<S268>/Manual Switch' */

    dx_hand_model_B.ManualSwitch2 = (dx_hand_model_B.Delay_m[17] -

      dx_hand_model_B.t4_o) * dx_hand_model_P.GainAggiustato_Gain_m -

      dx_hand_model_P.Constant_Value_dn;

  } else {

    dx_hand_model_B.ManualSwitch2 = dx_hand_model_P.Constant_Value_e;

  }



  /* End of ManualSwitch: '<S229>/Manual Switch2' */



  /* ManualSwitch: '<S229>/Manual Switch1' incorporates:

   *  Constant: '<S229>/Constant1'

   *  Constant: '<S269>/Constant'

   *  Gain: '<S269>/Gain Aggiustato'

   *  Sum: '<S269>/Sum1'

   *  Sum: '<S269>/Sum2'

   */

  if (dx_hand_model_P.ManualSwitch1_CurrentSetting == 1) {

    /* ManualSwitch: '<S269>/Manual Switch' incorporates:

     *  Constant: '<S269>/Constant1'

     *  DataTypeConversion: '<S269>/Data Type Conversion1'

     */

    if (dx_hand_model_P.ManualSwitch_CurrentSetting_lg == 1) {

      dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_db;

    } else {

      dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_jr;

    }



    /* End of ManualSwitch: '<S269>/Manual Switch' */

    dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[18] - dx_hand_model_B.t4_o)

      * dx_hand_model_P.GainAggiustato_Gain_c -

      dx_hand_model_P.Constant_Value_ld;

  } else {

    dx_hand_model_B.Switch = dx_hand_model_P.Constant1_Value_p;

  }



  /* End of ManualSwitch: '<S229>/Manual Switch1' */



  /* DataTypeConversion: '<S227>/Data Type Conversion3' */

  dx_hand_model_B.Sum_a = (real32_T)dx_hand_model_B.Switch;



  /* RateTransition: '<S270>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_p0 =

      dx_hand_model_DW.RateTransition_Buffer0_pl;

  }



  /* End of RateTransition: '<S270>/Rate Transition' */



  /* ManualSwitch: '<S229>/Manual Switch' incorporates:

   *  Constant: '<S229>/Constant2'

   *  Constant: '<S270>/Constant'

   *  Gain: '<S270>/Gain Aggiustato'

   *  Sum: '<S270>/Sum1'

   *  Sum: '<S270>/Sum2'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_bs == 1) {

    /* ManualSwitch: '<S270>/Manual Switch' incorporates:

     *  Constant: '<S270>/Constant1'

     *  DataTypeConversion: '<S270>/Data Type Conversion1'

     */

    if (dx_hand_model_P.ManualSwitch_CurrentSetting_ld == 1) {

      dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_p0;

    } else {

      dx_hand_model_B.t4_o = dx_hand_model_P.Constant1_Value_l;

    }



    /* End of ManualSwitch: '<S270>/Manual Switch' */

    dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[19] - dx_hand_model_B.t4_o)

      * dx_hand_model_P.GainAggiustato_Gain_cb -

      dx_hand_model_P.Constant_Value_iv;

  } else {

    dx_hand_model_B.Switch = dx_hand_model_P.Constant2_Value;

  }



  /* End of ManualSwitch: '<S229>/Manual Switch' */



  /* DataTypeConversion: '<S227>/Data Type Conversion4' */

  dx_hand_model_B.Sum1_h = (real32_T)dx_hand_model_B.Switch;



  /* RateTransition: '<S271>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_g2 =

      dx_hand_model_DW.RateTransition_Buffer0_ck;

  }



  /* End of RateTransition: '<S271>/Rate Transition' */



  /* ManualSwitch: '<S229>/Manual Switch4' incorporates:

   *  Constant: '<S229>/Constant5'

   *  Gain: '<S271>/Gain Aggiustato'

   *  Gain: '<S271>/Sign'

   *  Sum: '<S271>/Sum2'

   */

  if (dx_hand_model_P.ManualSwitch4_CurrentSetting == 1) {

    /* ManualSwitch: '<S271>/Manual Switch' incorporates:

     *  Constant: '<S271>/Constant2'

     *  DataTypeConversion: '<S271>/Data Type Conversion1'

     */

    if (dx_hand_model_P.ManualSwitch_CurrentSetting_l == 1) {

      dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_g2;

    } else {

      dx_hand_model_B.t4_o = dx_hand_model_P.Constant2_Value_a;

    }



    /* End of ManualSwitch: '<S271>/Manual Switch' */

    dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[20] - dx_hand_model_B.t4_o)

      * dx_hand_model_P.GainAggiustato_Gain_j * dx_hand_model_P.Sign_Gain_d;

  } else {

    dx_hand_model_B.Switch = dx_hand_model_P.Constant5_Value;

  }



  /* End of ManualSwitch: '<S229>/Manual Switch4' */



  /* DataTypeConversion: '<S227>/Data Type Conversion5' */

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)dx_hand_model_B.Switch;



  /* RateTransition: '<S272>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ek =

      dx_hand_model_DW.RateTransition_Buffer0_aw;

  }



  /* End of RateTransition: '<S272>/Rate Transition' */



  /* ManualSwitch: '<S229>/Manual Switch5' incorporates:

   *  Constant: '<S229>/Constant6'

   *  Gain: '<S272>/Gain Aggiustato'

   *  Gain: '<S272>/Sign'

   *  Sum: '<S272>/Sum2'

   */

  if (dx_hand_model_P.ManualSwitch5_CurrentSetting == 1) {

    /* ManualSwitch: '<S272>/Manual Switch' incorporates:

     *  Constant: '<S272>/Constant2'

     *  DataTypeConversion: '<S272>/Data Type Conversion1'

     */

    if (dx_hand_model_P.ManualSwitch_CurrentSetting == 1) {

      dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_ek;

    } else {

      dx_hand_model_B.t4_o = dx_hand_model_P.Constant2_Value_m;

    }



    /* End of ManualSwitch: '<S272>/Manual Switch' */

    dx_hand_model_B.Switch = (dx_hand_model_B.Delay_m[21] - dx_hand_model_B.t4_o)

      * dx_hand_model_P.GainAggiustato_Gain_p * dx_hand_model_P.Sign_Gain_i;

  } else {

    dx_hand_model_B.Switch = dx_hand_model_P.Constant6_Value;

  }



  /* End of ManualSwitch: '<S229>/Manual Switch5' */



  /* MATLAB Function: '<S227>/F transformation new' incorporates:

   *  DataTypeConversion: '<S227>/Data Type Conversion2'

   *  DataTypeConversion: '<S227>/Data Type Conversion6'

   */

  dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 = (real32_T)sin((real_T)

    (real32_T)dx_hand_model_B.ManualSwitch2);

  dx_hand_model_B.Sum_nf = (real32_T)cos((real_T)(real32_T)

    dx_hand_model_B.ManualSwitch2);

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp = 7.02547E+15F *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;

  dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp /

    1.62259277E+32F;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe = (0.707106769F -

    2.46786152E+31F * dx_hand_model_B.Sum_nf / (rtInfF)) + dx_hand_model_B.t1313;

  dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum_a +

    1.57079637F));

  dx_hand_model_B.t7 = 1.41421354F * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n = 4.96775782E+15F *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l = dx_hand_model_B.t7 / 2.0F;

  dx_hand_model_B.t12_o = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n /

    4.05648192E+31F + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;

  dx_hand_model_B.Sum_a = (real32_T)sin((real_T)(dx_hand_model_B.Sum_a +

    1.57079637F));

  dx_hand_model_B.T_C[0] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *

    dx_hand_model_B.Sum_a - dx_hand_model_B.t12_o * dx_hand_model_B.t4_o;

  dx_hand_model_B.T_C[4] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *

    dx_hand_model_B.t4_o + dx_hand_model_B.t12_o * dx_hand_model_B.Sum_a;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p = 4.96775782E+15F *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t3 = 1.41421354F *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 / 2.0F;

  dx_hand_model_B.LDF_tmp = (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /

    4.05648192E+31F + 4.3297803E-17F) - dx_hand_model_B.t3;

  dx_hand_model_B.T_C[8] = dx_hand_model_B.LDF_tmp;

  dx_hand_model_B.t1212 = dx_hand_model_B.t4_o * 30.0F;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.Sum_a * 30.0F;

  dx_hand_model_B.T_C[12] = (11.6672621F - dx_hand_model_B.t12_o *

    dx_hand_model_B.t1212) + dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe *

    dx_hand_model_B.xD1_tmp_tmp;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g = 3.49008325E+31F *

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 / (rtInfF);

  dx_hand_model_B.t12_o = (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /

    8.11296384E+31F + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) +

    8.6595606E-17F;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 = 7.02547E+15F *

    dx_hand_model_B.Sum_nf / 8.11296384E+31F -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;

  dx_hand_model_B.T_C[1] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *

    dx_hand_model_B.t4_o - dx_hand_model_B.t12_o * dx_hand_model_B.Sum_a;

  dx_hand_model_B.T_C[5] = dx_hand_model_B.t12_o * -dx_hand_model_B.t4_o -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 * dx_hand_model_B.Sum_a;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp =

    (dx_hand_model_B.rtb_DataTypeConversion5_n_tmp / 8.11296384E+31F +

     dx_hand_model_B.Sum_nf) - 5.30245151E-33F;

  dx_hand_model_B.T_C[9] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

  dx_hand_model_B.T_C[13] = (dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 *

    dx_hand_model_B.t1212 - dx_hand_model_B.t12_o * dx_hand_model_B.xD1_tmp_tmp)

    - 1.42882748E-15F;

  dx_hand_model_B.T_C[2] = (0.707106769F - dx_hand_model_B.t1313) *

    dx_hand_model_B.Sum_a + dx_hand_model_B.t7 * dx_hand_model_B.t4_o / 2.0F;

  dx_hand_model_B.T_C[6] = (0.707106769F - 7.02547E+15F * (real32_T)sin((real_T)

    (real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F) *

    dx_hand_model_B.t4_o - dx_hand_model_B.t7 * dx_hand_model_B.Sum_a / 2.0F;

  dx_hand_model_B.T_C[10] = dx_hand_model_B.t3 + 4.3297803E-17F;

  dx_hand_model_B.T_C[14] = ((0.707106769F - 7.02547E+15F * (real32_T)sin

    ((real_T)(real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F) *

    dx_hand_model_B.xD1_tmp_tmp + 11.6672621F) + 21.2132034F *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t4_o;

  dx_hand_model_B.T_C[3] = 0.0F;

  dx_hand_model_B.T_C[7] = 0.0F;

  dx_hand_model_B.T_C[11] = 0.0F;

  dx_hand_model_B.T_C[15] = 1.0F;

  dx_hand_model_B.t4_o = (real32_T)cos((real_T)

    dx_hand_model_B.DataTypeConversion5_n);

  dx_hand_model_B.fv1[0] = dx_hand_model_B.t4_o;

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)

    dx_hand_model_B.DataTypeConversion5_n);

  dx_hand_model_B.fv1[4] = -(4.96775782E+15F *

    dx_hand_model_B.DataTypeConversion5_n) / 8.11296384E+31F;

  dx_hand_model_B.fv1[8] = dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.fv1[12] = 100.0F * dx_hand_model_B.t4_o;

  dx_hand_model_B.fv1[1] = dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.fv1[5] = 4.96775782E+15F * dx_hand_model_B.t4_o /

    8.11296384E+31F;

  dx_hand_model_B.fv1[9] = -dx_hand_model_B.t4_o;

  dx_hand_model_B.fv1[13] = 100.0F * dx_hand_model_B.DataTypeConversion5_n;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        c[dx_hand_model_B.i << 2] * dx_hand_model_B.T_C[dx_hand_model_B.k];

      dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c

        [(dx_hand_model_B.i << 2) + 1] * dx_hand_model_B.T_C[dx_hand_model_B.k +

        4];

      dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c

        [(dx_hand_model_B.i << 2) + 2] * dx_hand_model_B.T_C[dx_hand_model_B.k +

        8];

      dx_hand_model_B.T_E[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] += c

        [(dx_hand_model_B.i << 2) + 3] * dx_hand_model_B.T_C[dx_hand_model_B.k +

        12];

    }



    dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = e[dx_hand_model_B.k];

    dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];

  }



  dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum1_h -

    2.04768825F));

  dx_hand_model_B.T_J_k[0] = dx_hand_model_B.t4_o;

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)

    (dx_hand_model_B.Sum1_h - 2.04768825F));

  dx_hand_model_B.T_J_k[4] = -dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.T_J_k[8] = 0.0F;

  dx_hand_model_B.T_J_k[12] = dx_hand_model_B.t4_o * 67.5351791F;

  dx_hand_model_B.T_J_k[1] = dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.T_J_k[5] = dx_hand_model_B.t4_o;

  dx_hand_model_B.T_J_k[9] = 0.0F;

  dx_hand_model_B.T_J_k[13] = dx_hand_model_B.DataTypeConversion5_n *

    67.5351791F;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *

        dx_hand_model_B.T_E[dx_hand_model_B.k];

      dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *

        dx_hand_model_B.T_E[dx_hand_model_B.k + 4];

      dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *

        dx_hand_model_B.T_E[dx_hand_model_B.k + 8];

      dx_hand_model_B.T_J[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *

        dx_hand_model_B.T_E[dx_hand_model_B.k + 12];

    }



    dx_hand_model_B.T_J_k[2 + (dx_hand_model_B.k << 2)] = f[dx_hand_model_B.k];

    dx_hand_model_B.T_J_k[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];

  }



  dx_hand_model_B.t4_o = (real32_T)cos((real_T)(dx_hand_model_B.Sum1_h -

    1.57079637F));

  dx_hand_model_B.fv1[0] = dx_hand_model_B.t4_o;

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)sin((real_T)

    (dx_hand_model_B.Sum1_h - 1.57079637F));

  dx_hand_model_B.Sum_nf = -(dx_hand_model_B.DataTypeConversion5_n *

    4.96775782E+15F) / 8.11296384E+31F;

  dx_hand_model_B.fv1[4] = dx_hand_model_B.Sum_nf;

  dx_hand_model_B.fv1[8] = -dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.fv1[12] = dx_hand_model_B.t4_o * 60.0F;

  dx_hand_model_B.fv1[1] = dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.Sum_a = dx_hand_model_B.t4_o * 4.96775782E+15F /

    8.11296384E+31F;

  dx_hand_model_B.fv1[5] = dx_hand_model_B.Sum_a;

  dx_hand_model_B.fv1[9] = dx_hand_model_B.t4_o;

  dx_hand_model_B.fv1[13] = dx_hand_model_B.DataTypeConversion5_n * 60.0F;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    dx_hand_model_B.Filt4_c[dx_hand_model_B.k] = 0.0F;

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[dx_hand_model_B.i << 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 1] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 4];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 8];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 3] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 12];

      dx_hand_model_B.Filt4_c[dx_hand_model_B.k] += dx_hand_model_B.T_C_c

        [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)

        d[dx_hand_model_B.i];

    }



    dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = g[dx_hand_model_B.k];

    dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];

  }



  dx_hand_model_B.T_J_k[0] = dx_hand_model_B.t4_o;

  dx_hand_model_B.T_J_k[4] = dx_hand_model_B.Sum_nf;

  dx_hand_model_B.T_J_k[8] = -(real32_T)sin((real_T)(dx_hand_model_B.Sum1_h -

    1.57079637F));

  dx_hand_model_B.T_J_k[12] = dx_hand_model_B.t4_o * 85.0F;

  dx_hand_model_B.T_J_k[1] = dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.T_J_k[5] = dx_hand_model_B.Sum_a;

  dx_hand_model_B.T_J_k[9] = dx_hand_model_B.t4_o;

  dx_hand_model_B.T_J_k[13] = dx_hand_model_B.DataTypeConversion5_n * 85.0F;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    dx_hand_model_B.Switch_i[dx_hand_model_B.k] = 0.0F;

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 4];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 8];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 12];

      dx_hand_model_B.Switch_i[dx_hand_model_B.k] += dx_hand_model_B.T_C_c

        [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)

        d[dx_hand_model_B.i];

    }



    dx_hand_model_B.T_J_k[2 + (dx_hand_model_B.k << 2)] = g[dx_hand_model_B.k];

    dx_hand_model_B.T_J_k[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];

  }



  dx_hand_model_B.fv1[0] = 0.0F;

  dx_hand_model_B.fv1[4] = 0.0F;

  dx_hand_model_B.fv1[8] = 0.0F;

  dx_hand_model_B.fv1[12] = 80.0F * (real32_T)sin((real_T)(real32_T)

    dx_hand_model_B.Switch);

  dx_hand_model_B.fv1[1] = 0.0F;

  dx_hand_model_B.fv1[5] = 0.0F;

  dx_hand_model_B.fv1[9] = 0.0F;

  dx_hand_model_B.fv1[13] = -80.0F * (real32_T)cos((real_T)(real32_T)

    dx_hand_model_B.Switch);

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    dx_hand_model_B.Memory_d[dx_hand_model_B.k] = 0.0F;

    dx_hand_model_B.J[dx_hand_model_B.k] = 0.0F;

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[dx_hand_model_B.i << 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 1] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 4];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 2] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 8];

      dx_hand_model_B.T_C_c[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.T_J_k[(dx_hand_model_B.i << 2) + 3] *

        dx_hand_model_B.T_C[dx_hand_model_B.k + 12];

      dx_hand_model_B.Memory_d[dx_hand_model_B.k] += dx_hand_model_B.T_C_c

        [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)

        d[dx_hand_model_B.i];

      dx_hand_model_B.J[dx_hand_model_B.k] += dx_hand_model_B.T_J

        [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)

        d[dx_hand_model_B.i];

    }



    dx_hand_model_B.fv1[2 + (dx_hand_model_B.k << 2)] = 0.0F;

    dx_hand_model_B.fv1[3 + (dx_hand_model_B.k << 2)] = b[dx_hand_model_B.k];

  }



  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

    dx_hand_model_B.I[dx_hand_model_B.k] = 0.0F;

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 4; dx_hand_model_B.i++) {

      dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] = 0.0F;

      dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[dx_hand_model_B.i << 2] *

        dx_hand_model_B.T_J[dx_hand_model_B.k];

      dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 1] *

        dx_hand_model_B.T_J[dx_hand_model_B.k + 4];

      dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 2] *

        dx_hand_model_B.T_J[dx_hand_model_B.k + 8];

      dx_hand_model_B.T_J_k[dx_hand_model_B.k + (dx_hand_model_B.i << 2)] +=

        dx_hand_model_B.fv1[(dx_hand_model_B.i << 2) + 3] *

        dx_hand_model_B.T_J[dx_hand_model_B.k + 12];

      dx_hand_model_B.I[dx_hand_model_B.k] += dx_hand_model_B.T_J_k

        [(dx_hand_model_B.i << 2) + dx_hand_model_B.k] * (real32_T)

        d[dx_hand_model_B.i];

    }

  }



  /* RateTransition: '<S282>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_gi =

      dx_hand_model_DW.RateTransition_Buffer0_l4;

  }



  /* End of RateTransition: '<S282>/Rate Transition' */



  /* MATLAB Function: '<S231>/Find K position' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag'

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag1'

   *  DataTypeConversion: '<S279>/Data Type Conversion1'

   *  DataTypeConversion: '<S280>/Data Type Conversion1'

   *  DataTypeConversion: '<S281>/Data Type Conversion1'

   *  DataTypeConversion: '<S282>/Data Type Conversion1'

   */

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)

    dx_hand_model_B.RateTransition_nk * (real32_T)

    dx_hand_model_B.RateTransition_nk;

  dx_hand_model_B.t3 = (real32_T)dx_hand_model_B.RateTransition_mpf * (real32_T)

    dx_hand_model_B.RateTransition_mpf;

  dx_hand_model_B.t4_o = dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t1313 = dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.Sum_nf = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Filt4_c

    [2];

  dx_hand_model_B.t7 = (real32_T)dx_hand_model_B.RateTransition_ko * (real32_T)

    dx_hand_model_B.RateTransition_ko;

  dx_hand_model_B.t8_h = (real32_T)dx_hand_model_B.RateTransition_gi * (real32_T)

    dx_hand_model_B.RateTransition_gi;

  dx_hand_model_B.t9_tmp = (real32_T)dx_hand_model_B.RateTransition_nk *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t9_tmp_n = (real32_T)dx_hand_model_B.RateTransition_mpf *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.t9_tmp_d = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t9_l = (((((((dx_hand_model_B.DataTypeConversion5_n +

    dx_hand_model_B.t3) + dx_hand_model_B.t4_o) + dx_hand_model_B.t1313) +

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.t7) - dx_hand_model_B.t9_tmp *

    2.0F) - dx_hand_model_B.t9_tmp_n * 2.0F) - dx_hand_model_B.t9_tmp_d * 2.0F;

  dx_hand_model_B.t749 = dx_hand_model_B.Filt4_c[2] *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t26_tmp_g = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t3;

  dx_hand_model_B.t27_m = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Sum_nf * 2.0F;

  dx_hand_model_B.t28_h = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t7;

  dx_hand_model_B.t29_c = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t4_o;

  dx_hand_model_B.t30_k = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t1313;

  dx_hand_model_B.t31_p = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.t32_p = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.t8_h;

  dx_hand_model_B.t33_tmp = dx_hand_model_B.t9_tmp * dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t33_p = dx_hand_model_B.t33_tmp * 2.0F;

  dx_hand_model_B.t34_tmp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t34_a = dx_hand_model_B.t34_tmp * 2.0F;

  dx_hand_model_B.t1256_tmp = dx_hand_model_B.Filt4_c[2] *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t25_h = ((((((((dx_hand_model_B.t749 +

    dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)

    + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -

    dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a;

  dx_hand_model_B.t10_tmp = dx_hand_model_B.t25_h + dx_hand_model_B.t1256_tmp;

  dx_hand_model_B.t11_e = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t12_o = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;

  dx_hand_model_B.t13_b = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;

  dx_hand_model_B.t15_g = dx_hand_model_B.t3 * dx_hand_model_B.t3;

  dx_hand_model_B.t16_e = dx_hand_model_B.t7 * dx_hand_model_B.t7;

  dx_hand_model_B.t17_f = dx_hand_model_B.Switch_i[0] *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t18_h = dx_hand_model_B.Switch_i[2] *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t19_e = dx_hand_model_B.Switch_i[1] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t20_c = dx_hand_model_B.t8_h * dx_hand_model_B.t8_h;

  dx_hand_model_B.t24_a = 1.0F / (dx_hand_model_B.t9_l * dx_hand_model_B.t9_l);

  dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t3;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t7;

  dx_hand_model_B.t1261 = dx_hand_model_B.t3 * dx_hand_model_B.t7;

  dx_hand_model_B.t1212 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.t1328 = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t739 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t750 = dx_hand_model_B.t3 * dx_hand_model_B.t1313;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;

  dx_hand_model_B.t754 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;

  dx_hand_model_B.t755 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;

  dx_hand_model_B.t761_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;

  dx_hand_model_B.t757_re = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t760_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t758_re = (real32_T)dx_hand_model_B.RateTransition_nk *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t759_re = (real32_T)dx_hand_model_B.RateTransition_mpf *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t762_re = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.Filt4_c[0] *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t804 = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.Filt4_c[1] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t803 = dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.t3;

  dx_hand_model_B.t835_re = dx_hand_model_B.Filt4_c[2] *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t763_re = (real32_T)dx_hand_model_B.RateTransition_nk *

    (real32_T)dx_hand_model_B.RateTransition_mpf;

  dx_hand_model_B.t10_j = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t802 = dx_hand_model_B.t10_j * dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t767_re = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.t790 = dx_hand_model_B.t767_re * dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t765_re = (real32_T)dx_hand_model_B.RateTransition_nk *

    (real32_T)dx_hand_model_B.RateTransition_ko;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t765_re *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t822 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t1309 = dx_hand_model_B.t765_re * dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t836_re = dx_hand_model_B.t1309 * dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t764_re = (real32_T)dx_hand_model_B.RateTransition_mpf *

    (real32_T)dx_hand_model_B.RateTransition_ko;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t764_re *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.t768_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t764_re *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t769_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.t773_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t766_re = (real32_T)dx_hand_model_B.RateTransition_mpf *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t794 = dx_hand_model_B.t766_re * dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.t771_re = dx_hand_model_B.t794 * dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t823 = dx_hand_model_B.t33_tmp * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t9_tmp_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t837_re = dx_hand_model_B.t9_tmp_d *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t838_re = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t758_re * dx_hand_model_B.t3;

  dx_hand_model_B.t824 = dx_hand_model_B.t759_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t839_re = dx_hand_model_B.t762_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t825 = dx_hand_model_B.t762_re * dx_hand_model_B.t3;

  dx_hand_model_B.t826_re = dx_hand_model_B.t758_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.t840_re = dx_hand_model_B.t9_tmp * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1226 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t841_re = dx_hand_model_B.t759_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t827_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t13_b;

  dx_hand_model_B.t828_re = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;

  dx_hand_model_B.t829_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t11_e;

  dx_hand_model_B.t830_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t15_g;

  dx_hand_model_B.t842_re = dx_hand_model_B.t836_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t831_re = dx_hand_model_B.t836_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t843_re = dx_hand_model_B.t769_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t769_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t823 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t837_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t838_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t835_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.t775 = dx_hand_model_B.t835_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t778 = dx_hand_model_B.t1251 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t797 = dx_hand_model_B.t1251 * dx_hand_model_B.t1313;

  dx_hand_model_B.t796 = dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t770_re = dx_hand_model_B.t739 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t772_re = dx_hand_model_B.t1328 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t774 = dx_hand_model_B.t750 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t777 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t1212 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t1328 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t757_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t760_re * dx_hand_model_B.t7;

  dx_hand_model_B.t1248 = dx_hand_model_B.t802 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t1250 = dx_hand_model_B.t790 * dx_hand_model_B.t1313;

  dx_hand_model_B.t1252 = dx_hand_model_B.t802 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t790 * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t802 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t1253 = dx_hand_model_B.t790 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t1254 = dx_hand_model_B.t822 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t1255 = dx_hand_model_B.t822 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.t768_re * dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t768_re *

    dx_hand_model_B.t3;

  dx_hand_model_B.t1312 = dx_hand_model_B.t773_re * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t773_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t771_re *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t771_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t773_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t819 = dx_hand_model_B.t771_re * dx_hand_model_B.t3;

  dx_hand_model_B.t818 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t824 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t804 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t803 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1212 * dx_hand_model_B.t7;

  dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t750 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t761_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t840_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1226 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t826_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t841_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t839_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t825 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t804 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t987_re = dx_hand_model_B.t803 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_ob * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t775 * dx_hand_model_B.t7;

  dx_hand_model_B.t833_re = dx_hand_model_B.t823 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_tmp_g *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t834_re = dx_hand_model_B.t34_tmp * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_p = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.tmp_tmp_tmp_kn *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_tmp_ok = (real32_T)dx_hand_model_B.RateTransition_nk *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_tmp_ok *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_tmp_ca *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t766_re *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_tmp_ji *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_nk *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.tmp_tmp_tmp_tmp *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_tmp_o *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.tmp_tmp_tmp_py *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_tmp_a = (real32_T)

    dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_tmp_a *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.tmp_tmp_tmp_om *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_cm *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t10_j * dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t763_re * (real32_T)

    dx_hand_model_B.RateTransition_ko;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.t815 = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t9_tmp * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t758_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t759_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1313;

  dx_hand_model_B.t813 = dx_hand_model_B.t821 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t823 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t812 = dx_hand_model_B.t821 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t834_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t1313;

  dx_hand_model_B.t808 = dx_hand_model_B.t834_re * dx_hand_model_B.t3;

  dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t780 = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t3;

  dx_hand_model_B.t781 = dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t7;

  dx_hand_model_B.t782 = dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t837_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t785 = dx_hand_model_B.t838_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t815 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.tmp_tmp_pr *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_k *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.t836_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t769_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t836_re * dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t823 *

    dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t821 * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t769_re *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t834_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t823 * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t821 * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t834_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t820 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t820 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1] *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t794 * dx_hand_model_B.Filt4_c[2]

    * dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_tmp_c1 *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t802 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t790 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t822 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t768_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t773_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t771_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t822 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t768_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t820 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t820 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t820 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.t802 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t790 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t820 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_c *= dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t815 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.tmp_tmp_pr *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.t834_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.t821 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.t773_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.t771_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.t9_tmp * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.t835_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.t835_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.t758_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.t759_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.t762_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t762_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.t763_re *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_tmp_al *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t765_re *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.tmp_tmp_tmp_oc *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.t764_re *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.tmp_tmp_tmp_ol *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.Filt4_c[0] *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_tmp_o2 *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.tmp_tmp_tmp_d *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.Filt4_c[0] *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_tmp_tmp_g *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_tmp_h *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.Filt4_c[1] *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.tmp_tmp_tmp_tmp_gy *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.tmp_tmp_tmp_i *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_f1 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_d *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_tmp_p5 *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.t804 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.t758_re *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.t824 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.t839_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t839_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.t825 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.t803 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t759_re *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.tmp_tmp_tmp_a *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t825 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t826_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.tmp_tmp_h2 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_tmp_jd *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.tmp_tmp_nm *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_tmp_jk *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.tmp_tmp_tmp_m *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t841_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.tmp_tmp_f1 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_tmp_e *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.tmp_tmp_er *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t26_m = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_mg = dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gm = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_lf = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_m4 = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nt = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gv = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dj = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_mq = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_e0 = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_j0 = dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_m3r = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_otc = dx_hand_model_B.t837_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gz = dx_hand_model_B.t838_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_fto = dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ci = dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_np5 = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_j0o = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_lc = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_phi = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_n3e = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_fni = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_fxv = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_i4x = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_nlw = dx_hand_model_B.t804 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_fj = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ay = dx_hand_model_B.t824 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mu = dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nh4 = dx_hand_model_B.t826_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_d4f = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ky = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_cl = dx_hand_model_B.tmp_tmp_nm *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_nmz = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ceo = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nc = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_ph = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_dk = dx_hand_model_B.Sum_nf * dx_hand_model_B.t16_e;

  dx_hand_model_B.tmp_tmp_oi = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_jrs = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_c2 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;

  dx_hand_model_B.tmp_tmp_hp = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;

  dx_hand_model_B.tmp_tmp_a4 = dx_hand_model_B.t762_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ow = dx_hand_model_B.t835_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_l4 = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_k1 = dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_a0 = dx_hand_model_B.t761_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_d42 = dx_hand_model_B.t837_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_cf = dx_hand_model_B.t838_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_av = dx_hand_model_B.t840_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_jw4 = dx_hand_model_B.t1226 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_cs = dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ew = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_fd = dx_hand_model_B.t822 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ga = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t764_re *

    dx_hand_model_B.Filt4_c[0];

  dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_eb *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_po = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ly = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ld = dx_hand_model_B.t836_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_hb = dx_hand_model_B.t821 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_cg4 = dx_hand_model_B.t769_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_g0 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nl2 = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_e2 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_by = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_avh = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_i2 = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_nqp = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_k3 = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_b0 = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_iee = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_bjy = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_oq = dx_hand_model_B.tmp_tmp_g3 *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_gsm = dx_hand_model_B.tmp_tmp_jzu *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t10_j *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_ed = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_is = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_m5 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_dl = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_j4 = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pe = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_b4 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pn1 = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jkh = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_ko = dx_hand_model_B.t823 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_cg1 = dx_hand_model_B.t768_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_j11 = dx_hand_model_B.t834_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_an = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_aq = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lgb = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_kb = dx_hand_model_B.t7 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_dr = dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_np = dx_hand_model_B.t8_h * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_hzv = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_iq = dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hj = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_pn = dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_nk = dx_hand_model_B.t755 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_jza = dx_hand_model_B.t757_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ot = dx_hand_model_B.t760_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_bj = dx_hand_model_B.t9_tmp * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_i4 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_ng = dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ie = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_p3 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_gb = dx_hand_model_B.tmp_tmp_kn *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ca = dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_pd = dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.t767_re *

    dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.tmp_tmp_in = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_n0 = dx_hand_model_B.tmp_tmp_g3 *

    dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_izy = dx_hand_model_B.tmp_tmp_jzu *

    dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.tmp_tmp_gr = dx_hand_model_B.tmp_tmp_mx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gu = dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_chk = dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ih = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_no = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_fa5 = dx_hand_model_B.t790 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_eu = dx_hand_model_B.t771_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_inq = dx_hand_model_B.t802 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_a0m = dx_hand_model_B.t773_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_ldg = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_aiu = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iyd = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_ok = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_b4z = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.t765_re *

    dx_hand_model_B.Filt4_c[1];

  dx_hand_model_B.tmp_tmp_i0 = dx_hand_model_B.tmp_tmp_tmp_b *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.tmp_tmp_lgo = dx_hand_model_B.tmp_tmp_tmp_eb *

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[0] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t1212 = 1.0F /

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t812

    * 2.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n

    * dx_hand_model_B.t14_a + dx_hand_model_B.t3 * dx_hand_model_B.t12_o) +

    dx_hand_model_B.t1313 * dx_hand_model_B.t11_e) + dx_hand_model_B.t4_o *

    dx_hand_model_B.t15_g) + dx_hand_model_B.t827_re) + dx_hand_model_B.t829_re)

    + dx_hand_model_B.t7 * dx_hand_model_B.t12_o) + dx_hand_model_B.t4_o *

    dx_hand_model_B.t16_e) + dx_hand_model_B.t828_re) + dx_hand_model_B.t7 *

    dx_hand_model_B.t14_a) + dx_hand_model_B.t830_re) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t16_e) + dx_hand_model_B.t11_e * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t15_g * dx_hand_model_B.t17_f) + dx_hand_model_B.t11_e *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t12_o * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) + dx_hand_model_B.t12_o *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t14_a * dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t778) + dx_hand_model_B.t797) +

    dx_hand_model_B.tmp_tmp_dn) + dx_hand_model_B.tmp_tmp_fc * 2.0F) +

    dx_hand_model_B.t739 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t1328 *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t777) +

    dx_hand_model_B.xD1_tmp_tmp_k) + dx_hand_model_B.tmp_tmp_al) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 *

    dx_hand_model_B.t19_e) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 * dx_hand_model_B.t18_h *

    2.0F) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t1261 *

    dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t1261 * dx_hand_model_B.t19_e) + dx_hand_model_B.t1261 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_d4) + dx_hand_model_B.t796)

    + dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.t770_re * 2.0F) +

    dx_hand_model_B.t772_re * 2.0F) + dx_hand_model_B.tmp_tmp_bf * 2.0F) +

    dx_hand_model_B.t774) + dx_hand_model_B.tmp_tmp_eh) +

    dx_hand_model_B.tmp_tmp_bs) + dx_hand_model_B.t1212 * dx_hand_model_B.t19_e *

    6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1212 *

    dx_hand_model_B.t18_h * 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t19_e)

    + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t19_e) + dx_hand_model_B.t750 *

    dx_hand_model_B.t17_f * 6.0F) + dx_hand_model_B.t752 * dx_hand_model_B.t17_f)

    + dx_hand_model_B.t739 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t19_e *

    2.0F) + dx_hand_model_B.t1328 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t752 * dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t754 *

    dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t750 * dx_hand_model_B.t18_h * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t19_e) + dx_hand_model_B.t752 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t754 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t755 * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t18_h) + dx_hand_model_B.t754 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t755 * dx_hand_model_B.t19_e * 6.0F)

    + dx_hand_model_B.t761_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t761_re

    * dx_hand_model_B.t19_e) + dx_hand_model_B.t757_re * dx_hand_model_B.t17_f)

    + dx_hand_model_B.t761_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t760_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t760_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t818 * 4.0F) + dx_hand_model_B.t817 * 4.0F) +

    dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_jw * 4.0F) +

    dx_hand_model_B.tmp_tmp_ktf * 4.0F) + dx_hand_model_B.tmp_tmp_pie * 4.0F) +

    dx_hand_model_B.t814 * 4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) + dx_hand_model_B.tmp_tmp_jkx *

    4.0F) + dx_hand_model_B.tmp_tmp_kbp * 4.0F) + dx_hand_model_B.tmp_tmp_hj5 *

    4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j * 4.0F) +

    dx_hand_model_B.tmp_tmp_d1 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    4.0F) + dx_hand_model_B.t987_re * 4.0F) + dx_hand_model_B.t832_re * 4.0F) +

    dx_hand_model_B.tmp_tmp_j1 * 4.0F) + dx_hand_model_B.t1248 * 6.0F) +

    dx_hand_model_B.t1250 * 6.0F) + dx_hand_model_B.t1252 * 2.0F) +

    dx_hand_model_B.tmp_tmp_cy * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    2.0F) + dx_hand_model_B.t1253 * 2.0F) + dx_hand_model_B.t1254 * 6.0F) +

    dx_hand_model_B.t842_re * 6.0F) + dx_hand_model_B.t822 * dx_hand_model_B.t7 *

    2.0F) + dx_hand_model_B.t836_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t1255 * 2.0F) + dx_hand_model_B.t831_re * 2.0F) +

    dx_hand_model_B.tmp_tmp_kq * 6.0F) + dx_hand_model_B.t843_re * 6.0F) +

    dx_hand_model_B.t768_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 2.0F) +

    dx_hand_model_B.tmp_tmp_da * 2.0F) + dx_hand_model_B.t1312 * 2.0F) +

    dx_hand_model_B.xD1_tmp_o * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

    2.0F) + dx_hand_model_B.tmp_tmp_be * 2.0F) + dx_hand_model_B.tmp_tmp_os *

    6.0F) + dx_hand_model_B.t819 * 6.0F) + dx_hand_model_B.t833_re * 2.0F) +

    dx_hand_model_B.tmp_tmp_c5 * 2.0F)) + dx_hand_model_B.t813 * 2.0F) +

    dx_hand_model_B.tmp_tmp_pw * 6.0F) + dx_hand_model_B.tmp_tmp_dat * 6.0F) +

    dx_hand_model_B.tmp_tmp_el * 2.0F) + dx_hand_model_B.tmp_tmp_pi * 2.0F) +

    dx_hand_model_B.t776 * 2.0F) + dx_hand_model_B.t810 * 2.0F) +

    dx_hand_model_B.t808 * 6.0F) + dx_hand_model_B.tmp_tmp_hs * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp_o * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_a *

    2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_k * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_p * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_hc *

    2.0F) + dx_hand_model_B.t779 * 2.0F) + dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.xD1_tmp_i * 2.0F) +

    dx_hand_model_B.tmp_tmp_li * 2.0F) + dx_hand_model_B.t780 * 2.0F) +

    dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_o4 * 2.0F) + dx_hand_model_B.tmp_tmp_frj * 2.0F) +

    dx_hand_model_B.tmp_tmp_ai * 2.0F) + dx_hand_model_B.tmp_tmp_fnt * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji5 * 2.0F) + dx_hand_model_B.tmp_tmp_iv * 2.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t18_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_mxd * 6.0F) + dx_hand_model_B.tmp_tmp_of * 6.0F) +

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_nhy * 6.0F) + dx_hand_model_B.tmp_tmp_daj * 6.0F) +

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t19_e * 8.0F) +

    dx_hand_model_B.tmp_tmp_jy * 6.0F) + dx_hand_model_B.tmp_tmp_nnx * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp * 6.0F) + dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t17_f * 8.0F) + dx_hand_model_B.tmp_tmp_jb * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_f * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_h * 6.0F) + dx_hand_model_B.tmp_tmp_he *

    6.0F) + dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gi * 6.0F) + dx_hand_model_B.tmp_tmp_om * 6.0F) +

    dx_hand_model_B.tmp_tmp_axm * 2.0F) + dx_hand_model_B.tmp_tmp_hi * 2.0F) +

    dx_hand_model_B.tmp_tmp_a0g * 6.0F) + dx_hand_model_B.tmp_tmp_hz * 2.0F) +

    dx_hand_model_B.tmp_tmp_lua * 2.0F) + dx_hand_model_B.tmp_tmp_bi * 6.0F) +

    dx_hand_model_B.xD1_tmp * 2.0F) + dx_hand_model_B.tmp_tmp_jcs * 2.0F) +

    dx_hand_model_B.tmp_tmp_ib * 6.0F) + dx_hand_model_B.tmp_tmp_bt * 6.0F) +

    dx_hand_model_B.tmp_tmp_jkm * 2.0F) + dx_hand_model_B.tmp_tmp_ee * 2.0F) +

    dx_hand_model_B.tmp_tmp_nq * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_m * 2.0F) +

    dx_hand_model_B.xD1_tmp_p * 2.0F) + dx_hand_model_B.xD1_tmp_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_mid * 6.0F) + dx_hand_model_B.tmp_tmp_ftf * 6.0F) +

    dx_hand_model_B.tmp_tmp_hm4 * 2.0F) + dx_hand_model_B.tmp_tmp_mi * 6.0F) +

    dx_hand_model_B.tmp_tmp_c2b * 2.0F) + dx_hand_model_B.tmp_tmp_kuk * 2.0F) +

    dx_hand_model_B.tmp_tmp_on * 2.0F) + dx_hand_model_B.tmp_tmp_jkf * 2.0F) +

    dx_hand_model_B.tmp_tmp_f2 * 6.0F) + dx_hand_model_B.tmp_tmp_iz5 * 2.0F) +

    dx_hand_model_B.tmp_tmp_dy * 6.0F) + dx_hand_model_B.tmp_tmp_kg * 6.0F) +

    dx_hand_model_B.tmp_tmp_jc * 4.0F) + dx_hand_model_B.tmp_tmp_cqr * 4.0F) +

    dx_hand_model_B.tmp_tmp_egf * 4.0F) + dx_hand_model_B.tmp_tmp_ft * 12.0F) +

    dx_hand_model_B.tmp_tmp_oc * 4.0F) + dx_hand_model_B.tmp_tmp_hnt * 4.0F) +

    dx_hand_model_B.tmp_tmp_gd * 4.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t759_re *

    dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t759_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.tmp_tmp_og * 2.0F) -

    dx_hand_model_B.t781 * 2.0F) - dx_hand_model_B.tmp_tmp_mz * 2.0F) -

    dx_hand_model_B.t782 * 2.0F) - dx_hand_model_B.tmp_tmp_lm5 * 2.0F) -

    dx_hand_model_B.t785 * 2.0F) - dx_hand_model_B.tmp_tmp_ez * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_i * 2.0F) - dx_hand_model_B.tmp_tmp_izd * 2.0F)

    - dx_hand_model_B.xD1_tmp_tmp_c * 2.0F) - dx_hand_model_B.tmp_tmp_kv * 2.0F)

    - dx_hand_model_B.tmp_tmp_jk * 2.0F) - dx_hand_model_B.tmp_tmp_kn *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t19_e

    * 4.0F) - dx_hand_model_B.tmp_tmp_ge * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *

    2.0F) - dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_kt * 2.0F) - dx_hand_model_B.t815 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_fz * 2.0F) -

    dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_ds * 2.0F) - dx_hand_model_B.tmp_tmp_cm * 2.0F) -

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_fq * 2.0F) - dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_nl * 2.0F) -

    dx_hand_model_B.tmp_tmp_iu * 2.0F) - dx_hand_model_B.tmp_tmp_c3 *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_g4 *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_i3r * 2.0F) -

    dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * 2.0F) - dx_hand_model_B.tmp_tmp_fa * 2.0F) -

    dx_hand_model_B.tmp_tmp_ji * 2.0F) - dx_hand_model_B.tmp_tmp_oo * 2.0F) -

    dx_hand_model_B.tmp_tmp_otc * 2.0F) - dx_hand_model_B.tmp_tmp_gz * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nlw * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_fj * 6.0F) -

    dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ay * 6.0F) - dx_hand_model_B.tmp_tmp_fr * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_oyy * 2.0F) - dx_hand_model_B.tmp_tmp_if *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fto * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_mu * 2.0F) - dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_if *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ln * 6.0F) -

    dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_ci * 2.0F) - dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_lu * 2.0F) -

    dx_hand_model_B.t837_re * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_gf * 6.0F) - dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_lg *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t837_re *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_dv * 2.0F) -

    dx_hand_model_B.tmp_tmp_jo * 4.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_f1s * 2.0F) -

    dx_hand_model_B.tmp_tmp_js * 2.0F) - dx_hand_model_B.tmp_tmp_lg *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ho * 6.0F) -

    dx_hand_model_B.t837_re * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.t838_re * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_nu * 6.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_nh4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.t840_re * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ki * 2.0F) - dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_d4f * 6.0F) -

    dx_hand_model_B.tmp_tmp_ky * 6.0F) - dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.t840_re *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fn * 4.0F) -

    dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_cl * 2.0F) - dx_hand_model_B.tmp_tmp_jz * 2.0F) -

    dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.t840_re *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1226 *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_bn * 4.0F) -

    dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_hm * 2.0F) - dx_hand_model_B.tmp_tmp_eg * 6.0F) -

    dx_hand_model_B.tmp_tmp_hn * 6.0F) - dx_hand_model_B.tmp_tmp_ku * 2.0F) -

    dx_hand_model_B.t1226 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ooe * 2.0F) - dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_hw * 4.0F) -

    dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_iy * 2.0F) - dx_hand_model_B.tmp_tmp_pl * 2.0F) -

    dx_hand_model_B.t1226 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_f0 * 2.0F) - dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_nh * 6.0F) -

    dx_hand_model_B.tmp_tmp_ho4 * 6.0F) - dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -

    dx_hand_model_B.tmp_tmp_np5 * 2.0F) - dx_hand_model_B.tmp_tmp_j0o * 2.0F) -

    dx_hand_model_B.tmp_tmp_lc * 2.0F) - dx_hand_model_B.tmp_tmp_phi * 2.0F) -

    dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_ic * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_h5 * 2.0F) - dx_hand_model_B.t26_m * 2.0F) -

    dx_hand_model_B.tmp_tmp_mg * 2.0F) - dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_gm * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3e * 2.0F) - dx_hand_model_B.tmp_tmp_fni * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lf * 2.0F) - dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_m4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_fxv * 2.0F) - dx_hand_model_B.tmp_tmp_i4x * 2.0F) -

    dx_hand_model_B.tmp_tmp_nt * 2.0F) - dx_hand_model_B.tmp_tmp_gv * 2.0F) -

    dx_hand_model_B.tmp_tmp_dj * 2.0F) - dx_hand_model_B.tmp_tmp_mq * 2.0F) -

    dx_hand_model_B.tmp_tmp_nmz * 2.0F) - dx_hand_model_B.tmp_tmp_e0 * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0 * 2.0F) - dx_hand_model_B.tmp_tmp_ceo * 2.0F) -

    dx_hand_model_B.tmp_tmp_m3r * 2.0F) - dx_hand_model_B.tmp_tmp_m5 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ga * 2.0F) - dx_hand_model_B.tmp_tmp_po * 2.0F) -

    dx_hand_model_B.tmp_tmp_ly * 2.0F) - dx_hand_model_B.tmp_tmp_fa5 * 2.0F) -

    dx_hand_model_B.tmp_tmp_eu * 2.0F) - dx_hand_model_B.tmp_tmp_inq * 2.0F) -

    dx_hand_model_B.tmp_tmp_a0m * 2.0F) - dx_hand_model_B.tmp_tmp_ld * 2.0F) -

    dx_hand_model_B.tmp_tmp_hb * 2.0F) - dx_hand_model_B.tmp_tmp_fd * 2.0F) -

    dx_hand_model_B.tmp_tmp_ko * 2.0F) - dx_hand_model_B.tmp_tmp_cg4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_g0 * 2.0F) - dx_hand_model_B.tmp_tmp_cg1 * 2.0F) -

    dx_hand_model_B.tmp_tmp_j11 * 2.0F) - dx_hand_model_B.tmp_tmp_ldg * 6.0F) -

    dx_hand_model_B.tmp_tmp_aiu * 6.0F) - dx_hand_model_B.tmp_tmp_is * 2.0F) -

    dx_hand_model_B.tmp_tmp_dl * 6.0F) - dx_hand_model_B.tmp_tmp_j4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_nl2 * 6.0F) - dx_hand_model_B.tmp_tmp_pe * 2.0F) -

    dx_hand_model_B.tmp_tmp_b4 * 6.0F) - dx_hand_model_B.tmp_tmp_e2 * 6.0F) -

    dx_hand_model_B.tmp_tmp_iyd * 6.0F) - dx_hand_model_B.tmp_tmp_ok * 6.0F) -

    dx_hand_model_B.tmp_tmp_by * 6.0F) - dx_hand_model_B.tmp_tmp_b4z * 2.0F) -

    dx_hand_model_B.tmp_tmp_avh * 2.0F) - dx_hand_model_B.tmp_tmp_i2 * 2.0F) -

                      dx_hand_model_B.tmp_tmp_an * 6.0F) -

                     dx_hand_model_B.tmp_tmp_nqp * 6.0F) -

                    dx_hand_model_B.tmp_tmp_aq * 6.0F) -

                   dx_hand_model_B.tmp_tmp_pn1 * 2.0F) -

                  dx_hand_model_B.tmp_tmp_k3 * 2.0F) -

                 dx_hand_model_B.tmp_tmp_b0 * 2.0F) -

                dx_hand_model_B.tmp_tmp_jkh * 8.0F) - dx_hand_model_B.tmp_tmp_cq

               * 8.0F) - dx_hand_model_B.tmp_tmp_iee * 8.0F) -

             dx_hand_model_B.tmp_tmp_bjy * 8.0F) - dx_hand_model_B.tmp_tmp_oq *

            8.0F) - dx_hand_model_B.tmp_tmp_gsm * 8.0F) -

          dx_hand_model_B.tmp_tmp_ed * 4.0F) - dx_hand_model_B.tmp_tmp_in * 4.0F)

        - dx_hand_model_B.tmp_tmp_n0 * 4.0F) - dx_hand_model_B.tmp_tmp_i0 * 4.0F)

      - dx_hand_model_B.tmp_tmp_izy * 4.0F) - dx_hand_model_B.tmp_tmp_lgo * 4.0F)

    * (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_in

    * dx_hand_model_B.t8_h * 4.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255 *

    dx_hand_model_B.Sum_nf * 2.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t777 *

    dx_hand_model_B.t17_f +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o

    * dx_hand_model_B.t13_b + dx_hand_model_B.t11_e * dx_hand_model_B.t13_b) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t13_b) + dx_hand_model_B.t13_b

    * dx_hand_model_B.t15_g) + dx_hand_model_B.tmp_tmp_nc *

    dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_nc * dx_hand_model_B.t19_e)

    + dx_hand_model_B.t1251 * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t13_b) +

    dx_hand_model_B.t1261 * dx_hand_model_B.t13_b) + dx_hand_model_B.t1212 *

    dx_hand_model_B.t13_b) + dx_hand_model_B.t739 * dx_hand_model_B.t13_b * 2.0F)

    + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t14_a) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t12_o) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t11_e) + dx_hand_model_B.t757_re *

    dx_hand_model_B.t15_g) + dx_hand_model_B.t750 * dx_hand_model_B.t13_b) +

    dx_hand_model_B.t752 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *

    dx_hand_model_B.t12_o) + dx_hand_model_B.t757_re * dx_hand_model_B.t16_e) +

    dx_hand_model_B.t754 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *

    dx_hand_model_B.t14_a) + dx_hand_model_B.t760_re * dx_hand_model_B.t16_e) +

    dx_hand_model_B.t827_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t827_re *

    dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t828_re *

    dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t829_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t830_re * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t827_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t828_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t829_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t828_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.t830_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t18_h) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t20_c) +

    dx_hand_model_B.t752 * dx_hand_model_B.t20_c) + dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t754 * dx_hand_model_B.t20_c) +

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t17_f *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t3 * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t19_e *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t4_o * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t1313 * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t19_e *

    dx_hand_model_B.t20_c) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t13_b *

    4.0F) + dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.t842_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t831_re * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t843_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t839_re * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t825 * dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.t804 *

    dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_c5 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t813 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_pw *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t812 * dx_hand_model_B.t7 *

    6.0F) + dx_hand_model_B.t803 * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.tmp_tmp_pi * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t810 * dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t808

    * dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t776 * dx_hand_model_B.t7

    * 6.0F) + dx_hand_model_B.t779 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t780 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t758_re * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b *

    4.0F) + dx_hand_model_B.t759_re * dx_hand_model_B.t8_h *

    dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_a4 *

    dx_hand_model_B.t12_o * 2.0F) + dx_hand_model_B.tmp_tmp_ow *

    dx_hand_model_B.t11_e * 2.0F) + dx_hand_model_B.tmp_tmp_a4 *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_ow *

    dx_hand_model_B.t15_g * 2.0F) + dx_hand_model_B.tmp_tmp_jw *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_pie *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ob *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t775 *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t781 *

    dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.t782 * dx_hand_model_B.t8_h *

    2.0F) + dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t785 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_i * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.t815 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_nl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_iu * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.tmp_tmp_i3r * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t821 *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t834_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t778 *

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.t797 * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.t796 * dx_hand_model_B.t7) + dx_hand_model_B.t770_re *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t772_re * dx_hand_model_B.t7 *

    2.0F) + dx_hand_model_B.t774 * dx_hand_model_B.t7) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t19_e)) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t777 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t777 * dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_al *

    dx_hand_model_B.t19_e) + dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t18_h)

    + dx_hand_model_B.tmp_tmp_d4 * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_ey * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t796 * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.t770_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t772_re *

    dx_hand_model_B.t17_f) + dx_hand_model_B.t796 * dx_hand_model_B.t18_h * 6.0F)

    + dx_hand_model_B.t770_re * dx_hand_model_B.t19_e) + dx_hand_model_B.t772_re

    * dx_hand_model_B.t19_e) + dx_hand_model_B.t774 * dx_hand_model_B.t17_f *

    6.0F) + dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t770_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t772_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t774 * dx_hand_model_B.t18_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_fa * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t8_h * dx_hand_model_B.t17_f *

    2.0F) + dx_hand_model_B.tmp_tmp_fr * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.tmp_tmp_ln *

    dx_hand_model_B.t8_h * 4.0F) + dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t8_h * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_lu * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t8_h * dx_hand_model_B.t19_e *

    2.0F) + dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_js * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ho * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_ki * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_eg * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_hn * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_ku * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_ooe * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_ho4 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t790 *

    dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t773_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t771_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t820 * dx_hand_model_B.t13_b

    * 2.0F) + dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t822 * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t836_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t768_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t821 *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t834_re *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fnt *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_iv *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1248 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t1250 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t17_f * 4.0F) + dx_hand_model_B.t1252 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_cy *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1253 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t19_e * 8.0F) + dx_hand_model_B.tmp_tmp_nnx *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.t1254 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_fd *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t26_m * dx_hand_model_B.t17_f *

    8.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.Sum_nf * 6.0F)

    + dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.Sum_nf * 6.0F)) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_cg1 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.xD1_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.t1312 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_be * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_os * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.t819 * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_k * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_kuk * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_jkf * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_f2 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_dy * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t818 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t817

    * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t814 *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ki *

    dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_my *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ooe *

    dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ft *

    dx_hand_model_B.Sum_nf * 12.0F) + dx_hand_model_B.tmp_tmp_gd *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_jc *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_cqr *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_egf *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_mxd *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t7

    * 2.0F) + dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t18_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_gi * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_ftf * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_on * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_iz5 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_o4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_frj * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ko * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j11 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_axm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_an * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_aq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_oc * dx_hand_model_B.Sum_nf * 4.0F) +

    dx_hand_model_B.tmp_tmp_hnt * dx_hand_model_B.Sum_nf * 4.0F) +

    dx_hand_model_B.tmp_tmp_jkh * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.t8_h * 4.0F)) +

    dx_hand_model_B.tmp_tmp_n0 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_izy * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t8_h *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_dr *

    dx_hand_model_B.t11_e) - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t12_o)

    - dx_hand_model_B.t3 * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b * 2.0F)

    - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t14_a) -

    dx_hand_model_B.tmp_tmp_dr * dx_hand_model_B.t15_g) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t11_e * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t12_o * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.t8_h * dx_hand_model_B.t14_a

    * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t837_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t13_b

    * 2.0F) - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_pr * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t11_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t15_g * 2.0F) -

    dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.t8_h) -

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.t8_h) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t8_h *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t1251 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.t8_h

    * dx_hand_model_B.t19_e) - dx_hand_model_B.t796 * dx_hand_model_B.t8_h) -

    dx_hand_model_B.t770_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t772_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t774 * dx_hand_model_B.t8_h) - dx_hand_model_B.tmp_tmp_eh *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_bs *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t752 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t739 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t1328 * dx_hand_model_B.t8_h

    * dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_pn *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t750 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_pn *

    dx_hand_model_B.t19_e) - dx_hand_model_B.t754 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t19_e) - dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t17_f *

    6.0F) - dx_hand_model_B.tmp_tmp_pn * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t19_e * 6.0F) -

    dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t17_f) -

    dx_hand_model_B.t761_re * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    2.0F) - dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t19_e) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t26_m * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t758_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)

    - dx_hand_model_B.t824 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t759_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)

    - dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.t826_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t13_b * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t14_a * 2.0F) -

    dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t15_g * 2.0F) -

    dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t13_b * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t12_o * 2.0F) -

    dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t11_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t16_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.t841_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t12_o * 2.0F) -

    dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t16_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t14_a * 2.0F) -

    dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t9_tmp * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t17_f * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t19_e * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_og * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gb * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_mz * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_otc * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gz * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.t785 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.t785 * dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t785 *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_i3r *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_ez *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_izd *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_ge *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_gr *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ca *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_eg *

    dx_hand_model_B.Sum_nf * 6.0F) - dx_hand_model_B.tmp_tmp_kt *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_c *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ds *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_k *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_p5 * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7

    * 2.0F) - dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_jw * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_a0x * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_fto * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ci * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_kbp * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.t987_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.t832_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_j1 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t822 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t768_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_np5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0o * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_lc * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_phi * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t833_re * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_el * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3e * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_fni * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t7 * 6.0F) -

    dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t7 * 6.0F) -

    dx_hand_model_B.tmp_tmp_fxv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4x * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t1254 * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.t842_re * dx_hand_model_B.t8_h * 8.0F) -

    dx_hand_model_B.t1255 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t831_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.t843_re * dx_hand_model_B.t8_h * 8.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t833_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_c5 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t812 * dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t813 *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_pw *

    dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_dat *

    dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_el *

    dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_pi *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t776 * dx_hand_model_B.t8_h *

    4.0F) - dx_hand_model_B.t810 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t808 * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_hs * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t779 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t780 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nlw * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_fj * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ay * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_mu * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t7 * 4.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t7 * 4.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t987_re * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nh4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_d4f * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_ky * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_cl * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jd * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7

    * 2.0F) - dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_m * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 *

    2.0F) - dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_in * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_i0 * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_lgo * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_fa5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_eu * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_inq * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_a0m * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ldg * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_aiu * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_iyd * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_ok * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_nmz * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_fnt * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_iv * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ceo * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    8.0F) - dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_nhy * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_daj * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.xD1_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_bt * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t8_h * 2.0F) -

                        dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.t8_h * 6.0F)

                       - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t8_h *

                       2.0F) - dx_hand_model_B.tmp_tmp_b4z *

                      dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_kuk

                     * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_on

                    * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_jkf

                   * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_f2 *

                  dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_iz5 *

                 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_dy *

                dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_kg *

               dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_jkh *

              dx_hand_model_B.Sum_nf * 8.0F) - dx_hand_model_B.tmp_tmp_n0 *

             dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_izy *

            dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_ft *

           dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_oc *

          dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_hnt *

         dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_jc *

        dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_cqr *

       dx_hand_model_B.t8_h * 4.0F);

  dx_hand_model_B.t12_o = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)

    (dx_hand_model_B.t10_tmp * dx_hand_model_B.t10_tmp * dx_hand_model_B.t24_a -

     dx_hand_model_B.t1212)));

  dx_hand_model_B.t13_b = dx_hand_model_B.Switch_i[2] *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t14_a = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t3;

  dx_hand_model_B.t15_g = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t4_o;

  dx_hand_model_B.t16_e = dx_hand_model_B.Switch_i[2] * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = (real32_T)

    dx_hand_model_B.RateTransition_ko * dx_hand_model_B.t1313;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.Switch_i[2] * 2.0F;

  dx_hand_model_B.t11_e = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Switch_i[2]

    * 2.0F;

  dx_hand_model_B.t1226 = 1.0F / (((((((((((((((((((((-dx_hand_model_B.t749 -

    dx_hand_model_B.t26_tmp_g) + dx_hand_model_B.t13_b) + dx_hand_model_B.t14_a)

    + dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) + dx_hand_model_B.t33_tmp)

    + dx_hand_model_B.t34_tmp) + dx_hand_model_B.tmp_tmp_tmp_o) +

    dx_hand_model_B.tmp_tmp_tmp_py) + dx_hand_model_B.tmp_tmp_tmp_om) +

    dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.xD1_tmp_tmp) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -

    dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e) -

    dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i);

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.Filt4_c[0] *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t1251 = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Switch_i[0];

  dx_hand_model_B.t1248 = (real32_T)dx_hand_model_B.RateTransition_nk *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t1250 = dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i

    [0];

  dx_hand_model_B.t1312 = dx_hand_model_B.t763_re * dx_hand_model_B.Filt4_c[2];

  dx_hand_model_B.t1248 =

    ((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp *

    dx_hand_model_B.Sum_nf + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t4_o) +

    dx_hand_model_B.t765_re * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.t7) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t4_o) + dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.t3) + dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf * 2.0F)

    + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313) +

    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t8_h) + dx_hand_model_B.t1248 *

    dx_hand_model_B.t8_h) + dx_hand_model_B.t1250 * dx_hand_model_B.t8_h) +

    dx_hand_model_B.tmp_tmp_jzu) + dx_hand_model_B.t1312 *

    dx_hand_model_B.Switch_i[1]) + dx_hand_model_B.t1309 *

    dx_hand_model_B.Switch_i[2]) + dx_hand_model_B.t33_tmp *

    dx_hand_model_B.Switch_i[0]) + dx_hand_model_B.t34_tmp *

    dx_hand_model_B.Switch_i[0] * 2.0F) + dx_hand_model_B.tmp_tmp_tmp_c1 *

    dx_hand_model_B.Switch_i[1]) - dx_hand_model_B.t765_re *

    dx_hand_model_B.Sum_nf) - dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t4_o)

                      - dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t1313) -

                     dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -

                    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) -

                   dx_hand_model_B.t1248 * dx_hand_model_B.t4_o * 2.0F) -

                  dx_hand_model_B.t1248 * dx_hand_model_B.Sum_nf) -

                 dx_hand_model_B.t1251 * dx_hand_model_B.t8_h) -

                dx_hand_model_B.tmp_tmp_tmp_tmp_g *

                dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1250 *

               dx_hand_model_B.t3) - dx_hand_model_B.t1250 *

              dx_hand_model_B.t4_o) - dx_hand_model_B.t1250 *

             dx_hand_model_B.t1313) - dx_hand_model_B.t1250 *

            dx_hand_model_B.Sum_nf) - dx_hand_model_B.t1250 * dx_hand_model_B.t7)

          - dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) -

         dx_hand_model_B.tmp_tmp_tmp_j) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

        dx_hand_model_B.Switch_i[0]) - dx_hand_model_B.tmp_tmp_tmp_eb *

       dx_hand_model_B.Switch_i[1]) - dx_hand_model_B.tmp_tmp_tmp_ok *

      dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Switch_i[1]) -

     dx_hand_model_B.t794 * dx_hand_model_B.Switch_i[2] * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_g * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t9_l = 1.0F / dx_hand_model_B.t9_l;

  dx_hand_model_B.t1250 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t12_o;

  dx_hand_model_B.t1251 = dx_hand_model_B.t3 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1252 = dx_hand_model_B.t7 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1253 = dx_hand_model_B.t4_o * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1254 = dx_hand_model_B.t1313 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1255 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;

  dx_hand_model_B.t27_m = (((((((((dx_hand_model_B.t749 +

    dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)

    + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -

    dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) +

    dx_hand_model_B.Filt4_c[2] * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1261 = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)

    (dx_hand_model_B.t27_m * dx_hand_model_B.t27_m * dx_hand_model_B.t24_a +

     -dx_hand_model_B.t1212)));

  dx_hand_model_B.t1212 = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1261 * 2.0F;

  dx_hand_model_B.t27_m = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1261 *

    2.0F;

  dx_hand_model_B.t17_f = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1261 *

    2.0F;

  dx_hand_model_B.Sum1_h = dx_hand_model_B.t1226 * dx_hand_model_B.t9_l;

  dx_hand_model_B.Sum_a = dx_hand_model_B.Sum1_h *

    (((((((((((((((((((((dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t3 +

    dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t7) +

    dx_hand_model_B.Switch_i[0] * dx_hand_model_B.t1313) +

                       dx_hand_model_B.Switch_i[0] * dx_hand_model_B.Sum_nf) +

                      dx_hand_model_B.t767_re) + dx_hand_model_B.t1309) +

                    dx_hand_model_B.t794) + dx_hand_model_B.tmp_tmp_tmp_g) +

                  dx_hand_model_B.tmp_tmp_tmp_ok * dx_hand_model_B.Switch_i[1])

                 + dx_hand_model_B.t766_re * dx_hand_model_B.Switch_i[1]) +

                dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.Switch_i[2]) +

               dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Switch_i[2]) -

              (real32_T)dx_hand_model_B.RateTransition_nk *

              dx_hand_model_B.t1313) - (real32_T)

             dx_hand_model_B.RateTransition_nk * dx_hand_model_B.Sum_nf) -

            dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.t3) -

           dx_hand_model_B.Filt4_c[0] * dx_hand_model_B.t7) -

          dx_hand_model_B.t763_re * dx_hand_model_B.Switch_i[1]) -

         dx_hand_model_B.t765_re * dx_hand_model_B.Switch_i[2]) -

        dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Switch_i[0] * 2.0F) -

       dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Switch_i[0] * 2.0F) -

      dx_hand_model_B.tmp_tmp_tmp_o2 * dx_hand_model_B.Switch_i[1]) -

     dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.Switch_i[2]);

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = dx_hand_model_B.t1248 /

    (((((((((((((((((((((dx_hand_model_B.t13_b + dx_hand_model_B.t14_a) +

    dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +

                      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +

                     dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +

                    dx_hand_model_B.t33_tmp) + dx_hand_model_B.t34_tmp) +

                  dx_hand_model_B.tmp_tmp_tmp_o) +

                 dx_hand_model_B.tmp_tmp_tmp_py) +

                dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.tmp_tmp_tmp_cm)

              - dx_hand_model_B.xD1_tmp_tmp) -

             dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -

            dx_hand_model_B.t749) - dx_hand_model_B.t26_tmp_g) -

          dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e)

      - dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i) +

    ((((((((((dx_hand_model_B.t25_h + dx_hand_model_B.t1250) +

             dx_hand_model_B.t1251) + dx_hand_model_B.t1252) +

           dx_hand_model_B.t1253) + dx_hand_model_B.t1254) +

         dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) -

       dx_hand_model_B.t9_tmp * dx_hand_model_B.t12_o * 2.0F) -

      dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t12_o * 2.0F) -

     dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t12_o * 2.0F) *

    dx_hand_model_B.Sum_a;

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =

    ((((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1250) -

             dx_hand_model_B.t1251) - dx_hand_model_B.t1252) -

           dx_hand_model_B.t1253) - dx_hand_model_B.t1254) -

         dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) +

       dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) *

    dx_hand_model_B.Sum_a + dx_hand_model_B.t1226 * dx_hand_model_B.t1248;

  dx_hand_model_B.t1309 = dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.Switch_i

    [2];

  dx_hand_model_B.t28_h = (real32_T)dx_hand_model_B.RateTransition_ko *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.xD1_tmp_o = (real32_T)dx_hand_model_B.RateTransition_mpf *

    dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.Filt4_c[2] *

    dx_hand_model_B.Switch_i[1];

  dx_hand_model_B.t8_h =

    (((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp_a *

    dx_hand_model_B.Sum_nf + dx_hand_model_B.t1309 * dx_hand_model_B.t1313) +

    dx_hand_model_B.t764_re * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t7) +

    dx_hand_model_B.t1309 * dx_hand_model_B.DataTypeConversion5_n) +

    dx_hand_model_B.t28_h * dx_hand_model_B.t1313) + dx_hand_model_B.t1309 *

    dx_hand_model_B.t3) + dx_hand_model_B.t28_h * dx_hand_model_B.Sum_nf * 2.0F)

    + dx_hand_model_B.t1309 * dx_hand_model_B.t4_o) + dx_hand_model_B.t1309 *

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.t8_h) + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) +

    dx_hand_model_B.tmp_tmp_g3) + dx_hand_model_B.t1312 *

    dx_hand_model_B.Switch_i[0]) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * dx_hand_model_B.Switch_i[2])

    + dx_hand_model_B.t33_tmp * dx_hand_model_B.Switch_i[1] * 2.0F) +

    dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.Switch_i[0]) +

    dx_hand_model_B.t34_tmp * dx_hand_model_B.Switch_i[1]) -

    dx_hand_model_B.t764_re * dx_hand_model_B.Sum_nf) -

    dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t4_o) -

                       dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t1313) -

                      dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Sum_nf) -

                     dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t8_h) -

                    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313 * 2.0F) -

                   dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) -

                  dx_hand_model_B.t28_h * dx_hand_model_B.t8_h) -

                 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t3) -

                dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

                dx_hand_model_B.DataTypeConversion5_n) -

               dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) -

              dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) -

             dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -

            dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t7) -

           dx_hand_model_B.t1309 * dx_hand_model_B.t8_h) -

          dx_hand_model_B.tmp_tmp_tmp_c) - dx_hand_model_B.tmp_tmp_tmp_b *

         dx_hand_model_B.Switch_i[0]) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

        dx_hand_model_B.Switch_i[1]) -

       dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * dx_hand_model_B.Switch_i[2] *

       2.0F) - dx_hand_model_B.t766_re * dx_hand_model_B.Filt4_c[2] *

      dx_hand_model_B.Switch_i[0]) - dx_hand_model_B.tmp_tmp_tmp_kn *

     dx_hand_model_B.Switch_i[2]) * dx_hand_model_B.t1226;

  dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1261;

  dx_hand_model_B.t3 *= dx_hand_model_B.t1261;

  dx_hand_model_B.t28_h = dx_hand_model_B.t7 * dx_hand_model_B.t1261;

  dx_hand_model_B.t1312 = dx_hand_model_B.t4_o * dx_hand_model_B.t1261;

  dx_hand_model_B.t1313 *= dx_hand_model_B.t1261;

  dx_hand_model_B.t1261 *= dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t7 = ((((((((((((((((((((dx_hand_model_B.Switch_i[1] *

    dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.Switch_i[1] *

    dx_hand_model_B.t7) + dx_hand_model_B.Switch_i[1] * dx_hand_model_B.t4_o) +

    dx_hand_model_B.Switch_i[1] * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.t10_j) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_kn)

    + dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.tmp_tmp_tmp_ji) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.Switch_i[2]) +

    dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Switch_i[2]) - (real32_T)

    dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.t4_o) - (real32_T)

    dx_hand_model_B.RateTransition_mpf * dx_hand_model_B.Sum_nf) -

    dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.DataTypeConversion5_n) -

    dx_hand_model_B.Filt4_c[1] * dx_hand_model_B.t7) -

    dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t764_re *

    dx_hand_model_B.Switch_i[2]) - dx_hand_model_B.t9_tmp *

    dx_hand_model_B.Switch_i[1] * 2.0F) - dx_hand_model_B.t9_tmp_d *

    dx_hand_model_B.Switch_i[1] * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_d) -

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.Switch_i[2];

  dx_hand_model_B.t1328 = (((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1212)

    - dx_hand_model_B.t27_m) - dx_hand_model_B.t17_f) + dx_hand_model_B.t1309) +

    dx_hand_model_B.t3) + dx_hand_model_B.t28_h) + dx_hand_model_B.t1312) +

    dx_hand_model_B.t1313) + dx_hand_model_B.t1261) + dx_hand_model_B.t1256_tmp;

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Sum1_h *

    dx_hand_model_B.t7;

  dx_hand_model_B.q_dif[0] = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1328 + dx_hand_model_B.t8_h;

  dx_hand_model_B.Sum_nf = ((((((((dx_hand_model_B.t10_tmp +

    dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) -

    dx_hand_model_B.t1309) - dx_hand_model_B.t3) - dx_hand_model_B.t28_h) -

    dx_hand_model_B.t1312) - dx_hand_model_B.t1313) - dx_hand_model_B.t1261;

  dx_hand_model_B.q_dif[1] = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t8_h;

  dx_hand_model_B.z_sol_l[0] = dx_hand_model_B.t9_l * dx_hand_model_B.t1328;

  dx_hand_model_B.z_sol_l[1] = dx_hand_model_B.Sum_nf * dx_hand_model_B.t9_l;



  /* MATLAB Function: '<S231>/get_Angles' incorporates:

   *  DataTypeConversion: '<S279>/Data Type Conversion1'

   *  DataTypeConversion: '<S280>/Data Type Conversion1'

   *  DataTypeConversion: '<S281>/Data Type Conversion1'

   */

  dx_hand_model_B.ixstart = 1;

  dx_hand_model_B.t739 = dx_hand_model_B.z_sol_l[0];

  dx_hand_model_B.k = 0;

  if (rtIsNaNF(dx_hand_model_B.z_sol_l[0])) {

    dx_hand_model_B.ix = 2;

    exitg1 = false;

    while ((!exitg1) && (dx_hand_model_B.ix < 3)) {

      dx_hand_model_B.ixstart = 2;

      if (!rtIsNaNF(dx_hand_model_B.z_sol_l[1])) {

        dx_hand_model_B.t739 = dx_hand_model_B.z_sol_l[1];

        dx_hand_model_B.k = 1;

        exitg1 = true;

      } else {

        dx_hand_model_B.ix = 3;

      }

    }

  }



  if ((dx_hand_model_B.ixstart < 2) && (dx_hand_model_B.z_sol_l[1] <

       dx_hand_model_B.t739)) {

    dx_hand_model_B.k = 1;

  }



  dx_hand_model_B.rtb_K_idx_0 =

    dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.k];

  dx_hand_model_B.rtb_K_idx_1 = dx_hand_model_B.q_dif[dx_hand_model_B.k];

  dx_hand_model_B.rtb_K_idx_2 = dx_hand_model_B.z_sol_l[dx_hand_model_B.k];

  dx_hand_model_B.Sum_a =

    dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.k] - (real32_T)

    dx_hand_model_B.RateTransition_nk;

  dx_hand_model_B.t1313 = dx_hand_model_B.q_dif[dx_hand_model_B.k] - (real32_T)

    dx_hand_model_B.RateTransition_mpf;

  dx_hand_model_B.Sum1_h = dx_hand_model_B.z_sol_l[dx_hand_model_B.k] -

    (real32_T)dx_hand_model_B.RateTransition_ko;

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.Sum1_h *

    dx_hand_model_B.Sum1_h;

  dx_hand_model_B.t1313 = (dx_hand_model_B.Sum_a * dx_hand_model_B.Sum_a +

    dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.Sum_nf = 1.0F / (real32_T)sqrt((real_T)dx_hand_model_B.t1313);

  dx_hand_model_B.t476.re = dx_hand_model_B.Sum1_h * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t476.im = 0.0F;

  dx_hand_model_acos(&dx_hand_model_B.t476);

  dx_hand_model_B.Sum1_h = -(1.57079637F - dx_hand_model_B.t476.re);

  dx_hand_model_B.t476.re = dx_hand_model_B.Sum_a * dx_hand_model_B.Sum_nf /

    (real32_T)sqrt((real_T)(-dx_hand_model_B.DataTypeConversion5_n /

    dx_hand_model_B.t1313 + 1.0F));

  dx_hand_model_B.t476.im = 0.0F;

  dx_hand_model_acos(&dx_hand_model_B.t476);

  dx_hand_model_B.Sum_a = 3.14159274F - dx_hand_model_B.t476.re;

  if (dx_hand_model_B.q_dif[dx_hand_model_B.k] > (real32_T)

      dx_hand_model_B.RateTransition_mpf) {

    dx_hand_model_B.Sum_a = -(3.14159274F - dx_hand_model_B.t476.re);

  }



  /* End of MATLAB Function: '<S231>/get_Angles' */



  /* RateTransition: '<S283>/Rate Transition' incorporates:

   *  RateTransition: '<S285>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_nz =

      dx_hand_model_DW.RateTransition_Buffer0_eq;

    dx_hand_model_B.RateTransition_kl =

      dx_hand_model_DW.RateTransition_Buffer0_dhx;

  }



  /* End of RateTransition: '<S283>/Rate Transition' */



  /* MATLAB Function: '<S231>/MATLAB Function' incorporates:

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag1'

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag5'

   *  DataTypeConversion: '<S279>/Data Type Conversion1'

   *  DataTypeConversion: '<S280>/Data Type Conversion1'

   *  DataTypeConversion: '<S281>/Data Type Conversion1'

   *  DataTypeConversion: '<S283>/Data Type Conversion1'

   *  MATLAB Function: '<S233>/MATLAB Function'

   */

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 = (real32_T)cos((real_T)

    dx_hand_model_B.Sum_a);

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 = (real32_T)sin((real_T)

    dx_hand_model_B.Sum1_h);

  dx_hand_model_B.t9_tmp = (real32_T)cos((real_T)dx_hand_model_B.Sum1_h);

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 = (real32_T)sin((real_T)

    dx_hand_model_B.Sum_a);

  dx_hand_model_B.DataTypeConversion5_n = (real32_T)

    dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

  dx_hand_model_B.Sum_nf = (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.MCP[0] = ((real32_T)dx_hand_model_B.RateTransition_nk -

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t9_tmp) +

    dx_hand_model_B.Sum_nf * dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    6.12323426E-17F;

  dx_hand_model_B.MCP[1] = ((real32_T)dx_hand_model_B.RateTransition_mpf -

    dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t9_tmp *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;

  dx_hand_model_B.MCP[2] = (real32_T)dx_hand_model_B.RateTransition_ko -

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.MCP[3] = 1.0F;



  /* MATLAB Function: '<S233>/MATLAB Function4' incorporates:

   *  DataTypeConversion: '<S279>/Data Type Conversion1'

   *  DataTypeConversion: '<S280>/Data Type Conversion1'

   *  DataTypeConversion: '<S281>/Data Type Conversion1'

   */

  dx_hand_m_MATLABFunction4_o((real32_T)dx_hand_model_B.RateTransition_nk,

    (real32_T)dx_hand_model_B.RateTransition_mpf, (real32_T)

    dx_hand_model_B.RateTransition_ko, &dx_hand_model_B.sf_MATLABFunction4_o);



  /* MATLAB Function: '<S243>/MATLAB Function2' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag4'

   */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.I,

    &dx_hand_model_B.sf_MATLABFunction2);



  /* MATLAB Function: '<S243>/MATLAB Function1' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag3'

   */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.J,

    &dx_hand_model_B.sf_MATLABFunction1_g);



  /* MATLAB Function: '<S243>/MATLAB Function' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag2'

   */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.Memory_d,

    &dx_hand_model_B.sf_MATLABFunction_h);



  /* MATLAB Function: '<S243>/MATLAB Function3' incorporates:

   *  Memory: '<S243>/Memory'

   *  Memory: '<S243>/Memory1'

   *  Memory: '<S243>/Memory2'

   */

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t4_o = dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.t1313 = dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.Sum_nf = dx_hand_model_B.sf_MATLABFunction_h.z *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t9_tmp_n = dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.t12_o = 1.0F / (((((dx_hand_model_B.t9_tmp_n +

    dx_hand_model_B.sf_MATLABFunction1_g.x *

    dx_hand_model_B.sf_MATLABFunction_h.y) +

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.y) -

    dx_hand_model_B.sf_MATLABFunction2.x * dx_hand_model_B.sf_MATLABFunction_h.y)

    - dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction1_g.y) -

    dx_hand_model_B.sf_MATLABFunction1_g.x *

    dx_hand_model_B.sf_MATLABFunction2.y);

  dx_hand_model_B.t13_b = dx_hand_model_B.sf_MATLABFunction1_g.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t14_a = dx_hand_model_B.sf_MATLABFunction1_g.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t15_g = dx_hand_model_B.sf_MATLABFunction1_g.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t16_e = dx_hand_model_B.t3 * dx_hand_model_B.t3;

  dx_hand_model_B.t17_f = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.t1251 = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t7 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.t1261 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t1212 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t1328 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t10_j = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.t739 = dx_hand_model_B.t10_j *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.t750 = dx_hand_model_B.t7 *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.t767_re = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t767_re *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t767_re *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t767_re = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.t752 = dx_hand_model_B.t767_re *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t754 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t3;

  dx_hand_model_B.t755 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t14_a;

  dx_hand_model_B.t761_re = dx_hand_model_B.t3 * dx_hand_model_B.t14_a;

  dx_hand_model_B.t757_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t760_re = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t758_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t13_b;

  dx_hand_model_B.t759_re = dx_hand_model_B.t4_o * dx_hand_model_B.t14_a;

  dx_hand_model_B.t762_re = dx_hand_model_B.t3 * dx_hand_model_B.t1313;

  dx_hand_model_B.t804 = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;

  dx_hand_model_B.t803 = dx_hand_model_B.t1313 * dx_hand_model_B.t14_a;

  dx_hand_model_B.t835_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;

  dx_hand_model_B.t763_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t7;

  dx_hand_model_B.t802 = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t790 = dx_hand_model_B.t7 * dx_hand_model_B.t14_a;

  dx_hand_model_B.t765_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;

  dx_hand_model_B.t822 = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;

  dx_hand_model_B.t836_re = dx_hand_model_B.t3 * dx_hand_model_B.t7;

  dx_hand_model_B.t764_re = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;

  dx_hand_model_B.t768_re = dx_hand_model_B.t4_o * dx_hand_model_B.t7;

  dx_hand_model_B.t769_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t773_re = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;

  dx_hand_model_B.t771_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;

  dx_hand_model_B.t823 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t837_re = dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t838_re = dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t824 = dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t839_re = dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t825 = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t826_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t1309 = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.t840_re = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t1226 = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t1309 = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.t841_re = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t827_re = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t828_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t829_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t830_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t842_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t7 *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t831_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.t843_re = dx_hand_model_B.t750 *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t750 *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t766_re = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t766_re *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t794 = dx_hand_model_B.t7 *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t794 *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t775 = dx_hand_model_B.t837_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t778 = dx_hand_model_B.t824 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t797 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t15_g;

  dx_hand_model_B.t796 = dx_hand_model_B.t3 * dx_hand_model_B.t15_g;

  dx_hand_model_B.t770_re = dx_hand_model_B.t4_o * dx_hand_model_B.t15_g;

  dx_hand_model_B.t772_re = dx_hand_model_B.t1313 * dx_hand_model_B.t15_g;

  dx_hand_model_B.t774 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t777 = dx_hand_model_B.t838_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t837_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t824 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1248 = dx_hand_model_B.t829_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1250 = dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1252 = dx_hand_model_B.t1261 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t830_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1253 = dx_hand_model_B.t843_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1254 = dx_hand_model_B.t739 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1255 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.tmp_tmp_da *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t752 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1312 = dx_hand_model_B.t826_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t840_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t841_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t768_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t819 = dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t818 = dx_hand_model_B.t757_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t817 = dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t814 = dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t831_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.tmp_tmp_pie *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t825 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t1226 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t765_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t790 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t771_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t773_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t987_re = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t832_re = dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t833_re = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t821 = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t834_re = dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.t1261 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t820 = dx_hand_model_B.t739 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *=

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.t752 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.t755 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.t761_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t757_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.t759_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t815 = dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t804 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t759_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t803 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t804 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.t803 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t822 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t836_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t813 = dx_hand_model_B.t797 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t764_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t812 = dx_hand_model_B.t796 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t823 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t810 = dx_hand_model_B.t770_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t808 = dx_hand_model_B.t772_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t780 = dx_hand_model_B.t825 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t781 = dx_hand_model_B.t839_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t782 = dx_hand_model_B.t826_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t840_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t785 = dx_hand_model_B.t841_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.t842_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t1212 *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.t739 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.tmp_tmp_c5 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t752 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.xD1_tmp_tmp *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t755 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t761_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t757_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp = dx_hand_model_B.t790 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.t765_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t822 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t836_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.t764_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.t768_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t773_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.t771_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t823 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.t837_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.t838_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.t824 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.t839_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.t826_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.t825 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.t841_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.t827_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.t828_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t1226 *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t827_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t11_e = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.t20_c = dx_hand_model_B.tmp_tmp_tmp_om *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.rtb_xH_sol_idx_0_re = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.rtb_zH_sol_idx_0_re = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.sf_MATLABFunction1_g.x;

  dx_hand_model_B.rtb_zH_sol_idx_1_re = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.tmp_tmp_i3r *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.t10_j *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.tmp_tmp_oo *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.rtb_xH_sol_idx_1_re = dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.t9_l = dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t837_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_dv *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.tmp_tmp_dv *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.t29_c = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t27_m = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.t775 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t25_h = dx_hand_model_B.t838_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t28_h = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t778 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x;

  dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_tmp_j5 *= dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.t837_re *

    dx_hand_model_B.sf_MATLABFunction2.y;

  dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.sf_MATLABFunction1_g.y;

  dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.t25_h *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.t828_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.t20_c *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t8_h = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t9_tmp_d = dx_hand_model_B.rtb_xH_sol_idx_0_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t26_tmp_g = dx_hand_model_B.tmp_tmp_fq *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t842_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.tmp_tmp_nl *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.tmp_tmp_il *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t33_tmp = dx_hand_model_B.tmp_tmp_fr *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t34_tmp = dx_hand_model_B.rtb_xH_sol_idx_1_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_c5 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.tmp_tmp_ln *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.tmp_tmp_lu *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.t11_e *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.rtb_zH_sol_idx_0_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t10_tmp = dx_hand_model_B.rtb_zH_sol_idx_1_re *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_iu *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t1256_tmp = dx_hand_model_B.tmp_tmp_ji *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.t24_a = dx_hand_model_B.t9_l *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_gf *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.tmp_tmp_jo *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_p = dx_hand_model_B.t828_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.t20_c *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.t830_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.rtb_xH_sol_idx_0_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.t829_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_fq *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t830_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t842_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_tmp_a = dx_hand_model_B.tmp_tmp_nl *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.tmp_tmp_il *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.tmp_tmp_ji *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.tmp_tmp_fa *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.tmp_tmp_fr *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.rtb_xH_sol_idx_1_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.tmp_tmp_da *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t843_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.tmp_tmp_da *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_c5 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.tmp_tmp_gf *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.tmp_tmp_jo *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.tmp_tmp_ln *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_lu *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.tmp_tmp_f1s *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_js *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.tmp_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.tmp_tmp_ho *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_hm *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_ki *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.t20_c *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.t11_e *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t829_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_fq *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.tmp_tmp_nl *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_p5 *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.rtb_zH_sol_idx_0_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.rtb_zH_sol_idx_1_re *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_fn *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.tmp_tmp_il *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_p5 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_iu *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t831_re *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_fa *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t34_a = dx_hand_model_B.tmp_tmp_fr *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t33_p = dx_hand_model_B.tmp_tmp_ji *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t31_p = dx_hand_model_B.t843_re *

    dx_hand_model_B.sf_MATLABFunction_h.z;

  dx_hand_model_B.t9_l *= dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t30_k = dx_hand_model_B.tmp_tmp_jz *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_jw *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.tmp_tmp_pie *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_tmp = dx_hand_model_B.tmp_tmp_ob *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp_jd *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp = dx_hand_model_B.tmp_tmp_gf *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.tmp_tmp_jo *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.tmp_tmp_kl *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp_a *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.tmp_tmp_nu *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t18_h =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_be *

    8.0F + dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_ktf *

    4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) + dx_hand_model_B.tmp_tmp_os *

    8.0F) + dx_hand_model_B.tmp_tmp_jkx * 4.0F) + dx_hand_model_B.tmp_tmp_kbp *

    4.0F) + dx_hand_model_B.tmp_tmp_hj5 * 4.0F) - dx_hand_model_B.tmp_tmp_jw *

    14916.0F) + dx_hand_model_B.tmp_tmp_d1 * 4.0F) - dx_hand_model_B.tmp_tmp_d4 *

    14916.0F) + dx_hand_model_B.t987_re * 14916.0F) + dx_hand_model_B.t832_re *

    14916.0F) - dx_hand_model_B.xD1_tmp_tmp_i * 4.0F) -

    dx_hand_model_B.tmp_tmp_ob * 14916.0F) + dx_hand_model_B.tmp_tmp_j1 * 4.0F)

    - dx_hand_model_B.tmp_tmp_ey * 14916.0F) + dx_hand_model_B.t833_re *

    14916.0F) + dx_hand_model_B.t821 * 14916.0F) - dx_hand_model_B.xD1_tmp_tmp_c

    * 4.0F) - dx_hand_model_B.tmp_tmp_kv * 8.0F) - dx_hand_model_B.t1248 * 4.0F)

    - dx_hand_model_B.t1250 * 4.0F) - dx_hand_model_B.t1252 * 4.0F) -

    dx_hand_model_B.tmp_tmp_cy * 12.0F) + dx_hand_model_B.t834_re * 12.0F) -

    dx_hand_model_B.tmp_tmp_jk * 8.0F) + dx_hand_model_B.tmp_tmp_n * 4.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) - dx_hand_model_B.tmp_tmp_fz *

    8.0F) - dx_hand_model_B.t1212 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *

    4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n * 4.0F) +

    dx_hand_model_B.tmp_tmp_cg * 4.0F) - dx_hand_model_B.tmp_tmp_cm * 8.0F) -

    dx_hand_model_B.t1253 * 4.0F) - dx_hand_model_B.t1254 * 4.0F) -

    dx_hand_model_B.t1255 * 4.0F) - dx_hand_model_B.tmp_tmp_kq * 12.0F) +

    dx_hand_model_B.t820 * 12.0F) - dx_hand_model_B.tmp_tmp_fnt * 8.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 4.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e * 4.0F) - dx_hand_model_B.tmp_tmp_iv *

    8.0F) - dx_hand_model_B.xD1_tmp_tmp * 4.0F) + dx_hand_model_B.tmp_tmp_dn *

    4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 4.0F) +

    dx_hand_model_B.tmp_tmp_fx * 4.0F) + dx_hand_model_B.tmp_tmp_pm * 4.0F) +

    dx_hand_model_B.tmp_tmp_nj * 4.0F) + dx_hand_model_B.t819 * 8.0F) -

    dx_hand_model_B.tmp_tmp_nnx * 12.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp *

    4.0F) + dx_hand_model_B.tmp_tmp_k * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp

    * 4.0F) + dx_hand_model_B.tmp_tmp_n3 * 4.0F) + dx_hand_model_B.tmp_tmp_oy *

    4.0F) + dx_hand_model_B.tmp_tmp_gg * 4.0F) + dx_hand_model_B.tmp_tmp_cq *

    4.0F) + dx_hand_model_B.t818 * 8.0F) + dx_hand_model_B.t817 * 8.0F) +

    dx_hand_model_B.t815 * 8.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_jp * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_h *

    4.0F) + dx_hand_model_B.tmp_tmp_kn * 4.0F) + dx_hand_model_B.tmp_tmp_mx *

    4.0F) + dx_hand_model_B.tmp_tmp_pr * 4.0F) - dx_hand_model_B.tmp_tmp_he *

    8.0F) + dx_hand_model_B.tmp_tmp_d * 4.0F) + dx_hand_model_B.tmp_tmp_dx *

    4.0F) + dx_hand_model_B.tmp_tmp_g4k * 4.0F) + dx_hand_model_B.tmp_tmp_o30 *

    4.0F) + dx_hand_model_B.tmp_tmp_b * 4.0F) + dx_hand_model_B.t814 * 8.0F) +

    dx_hand_model_B.t813 * 8.0F) - dx_hand_model_B.tmp_tmp_hz * 16.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_m * 4.0F) - dx_hand_model_B.xD1_tmp * 4.0F)

    - dx_hand_model_B.xD1_tmp_i * 4.0F) - dx_hand_model_B.tmp_tmp_nq * 12.0F) -

    dx_hand_model_B.xD1_tmp_tmp_m * 4.0F) + dx_hand_model_B.tmp_tmp_pw * 4.0F) +

    dx_hand_model_B.t812 * 8.0F) - dx_hand_model_B.xD1_tmp_p * 4.0F) -

    dx_hand_model_B.xD1_tmp_f * 4.0F) + dx_hand_model_B.tmp_tmp_pi * 4.0F) +

    dx_hand_model_B.t810 * 8.0F) - dx_hand_model_B.tmp_tmp_mi * 16.0F) -

    dx_hand_model_B.xD1_tmp_tmp_o * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_a *

    4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_k * 4.0F) + dx_hand_model_B.t808 *

    8.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_p * 4.0F) + dx_hand_model_B.t774 *

    14916.0F) - dx_hand_model_B.tmp_tmp_kuk * 14916.0F) -

    dx_hand_model_B.tmp_tmp_fc * 14916.0F) + dx_hand_model_B.t775 * 29832.0F) +

    dx_hand_model_B.t776 * 14916.0F) - dx_hand_model_B.tmp_tmp_eh * 14916.0F) -

    dx_hand_model_B.tmp_tmp_jkf * 14916.0F) + dx_hand_model_B.t777 * 14916.0F) -

    dx_hand_model_B.tmp_tmp_hc * 14916.0F) - dx_hand_model_B.tmp_tmp_al *

    14916.0F) + dx_hand_model_B.t778 * 29832.0F) + dx_hand_model_B.t779 *

    14916.0F) - dx_hand_model_B.tmp_tmp_bs * 14916.0F) -

    dx_hand_model_B.tmp_tmp_f2 * 14916.0F) - dx_hand_model_B.tmp_tmp_dy * 8.0F)

    + dx_hand_model_B.t780 * 16.0F) - dx_hand_model_B.tmp_tmp_li * 8.0F) +

    dx_hand_model_B.t781 * 8.0F) - dx_hand_model_B.xD1_tmp_tmp_k * 4.0F) -

    dx_hand_model_B.t1312 * 4.0F) - dx_hand_model_B.tmp_tmp_kg * 12.0F) +

    dx_hand_model_B.t782 * 12.0F) - dx_hand_model_B.xD1_tmp_o * 4.0F) -

    dx_hand_model_B.tmp_tmp_ft * 8.0F) + dx_hand_model_B.tmp_tmp_lm5 * 4.0F) -

    dx_hand_model_B.tmp_tmp_gd * 8.0F) + dx_hand_model_B.tmp_tmp_bf * 4.0F) -

    dx_hand_model_B.tmp_tmp_jc * 8.0F) - dx_hand_model_B.t1226 * 4.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 4.0F) + dx_hand_model_B.t785 * 12.0F)

    - dx_hand_model_B.tmp_tmp_cqr * 8.0F) - dx_hand_model_B.tmp_tmp_gbr * 12.0F)

    - dx_hand_model_B.tmp_tmp_ge * 12.0F) - dx_hand_model_B.tmp_tmp_izd * 8.0F)

    - dx_hand_model_B.tmp_tmp_tmp_o * 4.0F) + dx_hand_model_B.tmp_tmp_tmp_p *

    4.0F) + dx_hand_model_B.tmp_tmp_tmp_cm * 4.0F) +

    dx_hand_model_B.tmp_tmp_tmp_kn * 4.0F) - dx_hand_model_B.tmp_tmp_ez * 8.0F)

    - dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t9_tmp_d * 4.0F) -

    dx_hand_model_B.tmp_tmp_mz * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_ca * 4.0F)

    + dx_hand_model_B.tmp_tmp_gs * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_i * 4.0F)

    + dx_hand_model_B.rtb_xH_sol_idx_0_re * 4.0F) + dx_hand_model_B.t10_tmp *

    4.0F) - dx_hand_model_B.tmp_tmp_og * 8.0F) - dx_hand_model_B.tmp_tmp_hnt *

    8.0F) - dx_hand_model_B.rtb_zH_sol_idx_0_re * 4.0F) -

    dx_hand_model_B.rtb_zH_sol_idx_1_re * 4.0F) - dx_hand_model_B.t26_tmp_g *

    4.0F) - dx_hand_model_B.tmp_tmp_oc * 16.0F) + dx_hand_model_B.tmp_tmp_ik *

    20.0F) + dx_hand_model_B.tmp_tmp_tmp_oc * 4.0F) - dx_hand_model_B.tmp_tmp_hi

    * 12.0F) + dx_hand_model_B.tmp_tmp_dd * 12.0F) - dx_hand_model_B.tmp_tmp_axm

    * 12.0F) - dx_hand_model_B.tmp_tmp_tmp_k * 8.0F) -

    dx_hand_model_B.tmp_tmp_jzu * 8.0F) + dx_hand_model_B.tmp_tmp_er * 12.0F) +

    dx_hand_model_B.tmp_tmp_tmp_ji * 4.0F) + dx_hand_model_B.tmp_tmp_tmp_tmp_a *

    4.0F) - dx_hand_model_B.tmp_tmp_tmp_py * 4.0F) +

    dx_hand_model_B.tmp_tmp_tmp_ol * 4.0F) - dx_hand_model_B.tmp_tmp_tmp_eb *

    12.0F) + dx_hand_model_B.tmp_tmp_tmp_al * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_j * 8.0F) + dx_hand_model_B.tmp_tmp_ch * 16.0F)

    - dx_hand_model_B.t34_a * 8.0F) + dx_hand_model_B.tmp_tmp_nm * 8.0F) -

    dx_hand_model_B.t1256_tmp * 4.0F) - dx_hand_model_B.t33_tmp * 4.0F) -

    dx_hand_model_B.t33_p * 12.0F) + dx_hand_model_B.tmp_tmp_h2 * 12.0F) -

    dx_hand_model_B.t31_p * 8.0F) - dx_hand_model_B.t34_tmp * 4.0F) +

    dx_hand_model_B.rtb_xH_sol_idx_1_re * 4.0F) + dx_hand_model_B.tmp_tmp_i3 *

    8.0F) + dx_hand_model_B.t24_a * 4.0F) - dx_hand_model_B.t9_l * 4.0F) -

    dx_hand_model_B.t30_k * 16.0F) + dx_hand_model_B.tmp_tmp_jr * 20.0F) +

    dx_hand_model_B.tmp_tmp_tmp_h * 4.0F) - dx_hand_model_B.tmp_tmp_tmp_tmp_g *

    8.0F) + dx_hand_model_B.tmp_tmp_db * 12.0F) + dx_hand_model_B.tmp_tmp_tmp_d *

    4.0F) - dx_hand_model_B.tmp_tmp_tmp_o2 * 12.0F) -

    dx_hand_model_B.tmp_tmp_tmp_tmp * 8.0F) - dx_hand_model_B.tmp_tmp_tmp_ok *

    16.0F) + dx_hand_model_B.tmp_tmp_f1 * 8.0F) + dx_hand_model_B.tmp_tmp_lg *

                      16.0F) + dx_hand_model_B.tmp_tmp_if * 8.0F) +

                    dx_hand_model_B.tmp_tmp_c3 * 16.0F) +

                   dx_hand_model_B.tmp_tmp_g4 * 8.0F) +

                  dx_hand_model_B.tmp_tmp_bt * 8.0F) -

                 dx_hand_model_B.tmp_tmp_tmp_g * 16.0F) +

                dx_hand_model_B.tmp_tmp_bi * 8.0F) + dx_hand_model_B.tmp_tmp_daj

               * 8.0F) - dx_hand_model_B.tmp_tmp_tmp * 8.0F) +

             dx_hand_model_B.tmp_tmp_nhy * 16.0F) -

            dx_hand_model_B.tmp_tmp_tmp_b * 8.0F) + dx_hand_model_B.tmp_tmp_hs *

           16.0F) - dx_hand_model_B.tmp_tmp_g3 * 16.0F) +

         dx_hand_model_B.tmp_tmp_dat * 8.0F) - dx_hand_model_B.tmp_tmp_tmp_c1 *

        8.0F) + dx_hand_model_B.tmp_tmp_el * 8.0F) + dx_hand_model_B.tmp_tmp_ds *

      8.0F) - dx_hand_model_B.tmp_tmp_tmp_c * 8.0F) + dx_hand_model_B.tmp_tmp_kt

    * 8.0F;

  dx_hand_model_B.t749 = dx_hand_model_B.tmp_tmp_fc *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t32_p = dx_hand_model_B.tmp_tmp_al *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t19_e = dx_hand_model_B.t774 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_eh *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.t777 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_bs *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.t775 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t25_h *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.t778 *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_jw *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_d4 *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.tmp_tmp_ob *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_ey *

    dx_hand_model_B.sf_MATLABFunction2.z;

  dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction1_g.z;

  dx_hand_model_B.t25_h =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t757_re

    * 4.0F + dx_hand_model_B.t760_re * 4.0F) + dx_hand_model_B.t758_re * 4.0F) +

    dx_hand_model_B.t759_re * 4.0F) + dx_hand_model_B.t804 * 4.0F) +

    dx_hand_model_B.t803 * 4.0F) + dx_hand_model_B.t763_re * 4.0F) +

    dx_hand_model_B.t802 * 4.0F) + dx_hand_model_B.t797 * 4.0F) +

    dx_hand_model_B.t765_re * 4.0F) + dx_hand_model_B.t796 * 4.0F) +

    dx_hand_model_B.t790 * 4.0F) + dx_hand_model_B.t768_re * 4.0F) +

    dx_hand_model_B.t769_re * 4.0F) + dx_hand_model_B.t770_re * 4.0F) +

    dx_hand_model_B.t771_re * 4.0F) + dx_hand_model_B.t772_re * 4.0F) +

    dx_hand_model_B.t773_re * 4.0F) + dx_hand_model_B.tmp_tmp_ln * 8.0F) +

    dx_hand_model_B.tmp_tmp_lu * 8.0F) + dx_hand_model_B.tmp_tmp_gf * 8.0F) +

    dx_hand_model_B.tmp_tmp_jo * 8.0F) + dx_hand_model_B.tmp_tmp_f1s * 8.0F) +

    dx_hand_model_B.tmp_tmp_js * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_m * 8.0F) +

    dx_hand_model_B.tmp_tmp_tmp_a * 8.0F) + dx_hand_model_B.t19_e * 8.0F) +

    dx_hand_model_B.tmp_tmp_ho * 8.0F) + dx_hand_model_B.t749 * 8.0F) +

    dx_hand_model_B.tmp_tmp_ku * 8.0F) + dx_hand_model_B.tmp_tmp_ooe * 8.0F) +

    dx_hand_model_B.tmp_tmp_nu * 8.0F) + dx_hand_model_B.tmp_tmp_tmp_jk * 8.0F)

    + dx_hand_model_B.tmp_tmp_ki * 8.0F) + dx_hand_model_B.t32_p * 8.0F) +

    dx_hand_model_B.tmp_tmp_hw * 8.0F) - dx_hand_model_B.t827_re * 8.0F) -

    dx_hand_model_B.t11_e * 8.0F) - dx_hand_model_B.t828_re * 8.0F) -

    dx_hand_model_B.tmp_tmp_fn * 8.0F) - dx_hand_model_B.t830_re * 8.0F) -

    dx_hand_model_B.t842_re * 8.0F) - dx_hand_model_B.tmp_tmp_nl * 8.0F) -

                       dx_hand_model_B.tmp_tmp_iu * 8.0F) -

                      dx_hand_model_B.tmp_tmp_tmp_p5 * 8.0F) -

                     dx_hand_model_B.tmp_tmp_jz * 8.0F) -

                    dx_hand_model_B.tmp_tmp_da * 8.0F) -

                   dx_hand_model_B.tmp_tmp_c5 * 8.0F) -

                  dx_hand_model_B.tmp_tmp_iy * 8.0F) -

                 dx_hand_model_B.tmp_tmp_pl * 8.0F) - dx_hand_model_B.tmp_tmp_f0

                * 8.0F) - dx_hand_model_B.tmp_tmp_nh * 8.0F) -

              dx_hand_model_B.tmp_tmp_tmp_e * 8.0F) -

             dx_hand_model_B.tmp_tmp_ho4 * 8.0F) -

            dx_hand_model_B.tmp_tmp_tmp_j5 * 8.0F) -

           dx_hand_model_B.tmp_tmp_tmp_jd * 8.0F) - dx_hand_model_B.tmp_tmp_kl *

          8.0F) - dx_hand_model_B.tmp_tmp_bn * 8.0F) -

        dx_hand_model_B.tmp_tmp_hpt * 8.0F) - dx_hand_model_B.tmp_tmp_eg * 8.0F)

      - dx_hand_model_B.tmp_tmp_hm * 8.0F) - dx_hand_model_B.tmp_tmp_f4 * 8.0F)

    - dx_hand_model_B.tmp_tmp_hn * 8.0F;

  dx_hand_model_B.t26_m = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t27_m = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;

  dx_hand_model_B.t28_h = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t29_c = dx_hand_model_B.t7 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t757_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t836_re *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.t823 *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.t768_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.t768_re *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_egf *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t831_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.tmp_tmp_egf *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t841_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.t823 *

    dx_hand_model_B.sf_MATLABFunction_h.x;

  dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.t836_re *

    dx_hand_model_B.sf_MATLABFunction_h.y;

  dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.t7 * dx_hand_model_B.t15_g;

  dx_hand_model_B.t25_h = 1.0F / (dx_hand_model_B.t25_h * dx_hand_model_B.t25_h)

    * (dx_hand_model_B.t18_h * dx_hand_model_B.t18_h) * 0.25F -

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_o4

    * dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n

    * dx_hand_model_B.t16_e * 6.0F + dx_hand_model_B.t3 * dx_hand_model_B.t26_m)

    + dx_hand_model_B.t14_a * dx_hand_model_B.t26_m) + dx_hand_model_B.t14_a *

    dx_hand_model_B.t16_e) + dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t26_m) + dx_hand_model_B.t3 * dx_hand_model_B.t27_m) +

    dx_hand_model_B.t4_o * dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t13_b

    * dx_hand_model_B.t26_m) + dx_hand_model_B.t14_a * dx_hand_model_B.t27_m) +

    dx_hand_model_B.t3 * dx_hand_model_B.t17_f * 3.0F) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t16_e * 3.0F) + dx_hand_model_B.t13_b *

    dx_hand_model_B.t16_e) + dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) +

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t29_c * 4.0F) +

    dx_hand_model_B.t3 * dx_hand_model_B.t28_h) + dx_hand_model_B.Sum_nf *

    dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t4_o * dx_hand_model_B.t17_f

    * 6.0F) + dx_hand_model_B.t1313 * dx_hand_model_B.t27_m) +

    dx_hand_model_B.t14_a * dx_hand_model_B.t28_h) + dx_hand_model_B.t13_b *

    dx_hand_model_B.t27_m) + dx_hand_model_B.t3 * dx_hand_model_B.t29_c) +

    dx_hand_model_B.t7 * dx_hand_model_B.t16_e * 2.0F) + dx_hand_model_B.t790 *

    7458.0F) + dx_hand_model_B.t14_a * dx_hand_model_B.t29_c) +

    dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) + dx_hand_model_B.t4_o *

    dx_hand_model_B.t29_c * 4.0F) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t28_h) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *

    2.0F) + dx_hand_model_B.t13_b * dx_hand_model_B.t28_h) +

    dx_hand_model_B.t1313 * dx_hand_model_B.t29_c) + dx_hand_model_B.t7 *

    dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t773_re * 7458.0F) +

    dx_hand_model_B.t13_b * dx_hand_model_B.t29_c) + dx_hand_model_B.t1251 *

    14916.0F) + dx_hand_model_B.t1328 * 14916.0F) + dx_hand_model_B.t739 *

    14916.0F) + dx_hand_model_B.t752 * 14916.0F) + dx_hand_model_B.t3 *

    1.3905441E+7F) + dx_hand_model_B.t14_a * 1.3905441E+7F) +

    dx_hand_model_B.t1313 * 1.3905441E+7F) + dx_hand_model_B.t13_b *

    1.3905441E+7F) + dx_hand_model_B.t839_re * 14916.0F) +

    dx_hand_model_B.t826_re * 14916.0F) + dx_hand_model_B.tmp_tmp_ai *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) + dx_hand_model_B.t841_re *

    14916.0F) + dx_hand_model_B.t827_re * 27716.0F) + dx_hand_model_B.t11_e *

    12800.0F) + dx_hand_model_B.t828_re * 27716.0F) + dx_hand_model_B.t20_c *

    14916.0F) + dx_hand_model_B.t829_re * 14916.0F) + dx_hand_model_B.tmp_tmp_fq

    * 14916.0F) + dx_hand_model_B.t842_re * 14916.0F) +

    dx_hand_model_B.tmp_tmp_nl * 27716.0F) + dx_hand_model_B.tmp_tmp_iu *

    12800.0F) + dx_hand_model_B.tmp_tmp_tmp_p5 * 27716.0F) +

    dx_hand_model_B.tmp_tmp_il * 14916.0F) + dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) + dx_hand_model_B.tmp_tmp_fa *

    14916.0F) + dx_hand_model_B.tmp_tmp_fr * 14916.0F) +

    dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)

    + dx_hand_model_B.t843_re * 14916.0F) + dx_hand_model_B.tmp_tmp_c5 *

    14916.0F) + dx_hand_model_B.t3 * dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 14916.0F) + dx_hand_model_B.t29_c *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) + dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 14916.0F) +

    dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)

    + dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F)

    + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)

    + dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.sf_MATLABFunction1_g.y *

    4.0F) + dx_hand_model_B.t754 * dx_hand_model_B.t14_a * 6.0F) +

    dx_hand_model_B.t754 * dx_hand_model_B.t4_o * 2.0F) +

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t754 * dx_hand_model_B.t1313 * 8.0F) + dx_hand_model_B.t754 *

    dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t757_re *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t760_re *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t762_re *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.t754 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t1313 * 2.0F) + dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t754 * dx_hand_model_B.t7 *

    10.0F) + dx_hand_model_B.t760_re * dx_hand_model_B.t1313 * 8.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t802 * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t835_re * dx_hand_model_B.t14_a * 6.0F) +

    dx_hand_model_B.t762_re * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t760_re * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf * 4.0F) +

    dx_hand_model_B.t763_re * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t768_re * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t835_re * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t762_re * dx_hand_model_B.t7 * 4.0F) +

    dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t14_a * 2.0F) +

    dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.t802 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t835_re *

    dx_hand_model_B.t7 * 10.0F) + dx_hand_model_B.t763_re *

    dx_hand_model_B.t15_g * 4.0F) + dx_hand_model_B.t769_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t836_re *

    dx_hand_model_B.t15_g * 4.0F) + dx_hand_model_B.t769_re * dx_hand_model_B.t7

    * 2.0F) + dx_hand_model_B.t768_re * dx_hand_model_B.t15_g * 4.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t15_g * 4.0F) +

    dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)

    + dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)

    + dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F)

    + dx_hand_model_B.t790 * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) + dx_hand_model_B.tmp_tmp_gi *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) + dx_hand_model_B.tmp_tmp_jcs

    * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) +

    dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F)

    + dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.sf_MATLABFunction1_g.y *

    8.0F) + dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.sf_MATLABFunction1_g.x *

    4.0F) + dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.sf_MATLABFunction1_g.y

    * 4.0F) + dx_hand_model_B.tmp_tmp_c2b *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t773_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) + dx_hand_model_B.tmp_tmp_a0g *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F)) +

    dx_hand_model_B.tmp_tmp_tmp_j5 * 12800.0F) + dx_hand_model_B.tmp_tmp_tmp_jd *

    12800.0F) + dx_hand_model_B.tmp_tmp_kl * 12800.0F) + dx_hand_model_B.t749 *

    14916.0F) + dx_hand_model_B.t32_p * 14916.0F) + dx_hand_model_B.tmp_tmp_frj *

    dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t841_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t20_c *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t828_re * dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t1261 *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t1248 * dx_hand_model_B.sf_MATLABFunction1_g.z *

    12.0F) + dx_hand_model_B.t1250 * dx_hand_model_B.sf_MATLABFunction1_g.z *

    12.0F) + dx_hand_model_B.t1252 * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.tmp_tmp_cy * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t1254 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t1255 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.tmp_tmp_kq *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t839_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t826_re * dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t827_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t840_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t829_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t842_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) + dx_hand_model_B.t829_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.tmp_tmp_ftf

    * dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) + dx_hand_model_B.t830_re *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.tmp_tmp_ftf

    * dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) + dx_hand_model_B.t1312 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z

    * 12.0F) + dx_hand_model_B.tmp_tmp_ge *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +

    dx_hand_model_B.tmp_tmp_tmp_cm * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.t8_h * dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F)

    + dx_hand_model_B.t9_tmp_d * dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F)

    + dx_hand_model_B.t26_tmp_g * dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F)

    + dx_hand_model_B.tmp_tmp_tmp_oc * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.tmp_tmp_tmp_ol *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) + dx_hand_model_B.t33_tmp *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) + dx_hand_model_B.t34_tmp *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) +

    dx_hand_model_B.tmp_tmp_tmp_h * dx_hand_model_B.sf_MATLABFunction1_g.z *

    4.0F) + dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.sf_MATLABFunction1_g.z *

    8.0F) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.sf_MATLABFunction1_g.z *

    8.0F) - dx_hand_model_B.t754 * 7458.0F) - dx_hand_model_B.tmp_tmp_mxd *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t755 *

    7458.0F) - dx_hand_model_B.t761_re * 7458.0F) - dx_hand_model_B.t757_re *

    13858.0F) - dx_hand_model_B.t760_re * 13858.0F) - dx_hand_model_B.t758_re *

    13858.0F) - dx_hand_model_B.t759_re * 13858.0F) - dx_hand_model_B.t762_re *

    14916.0F) - dx_hand_model_B.t804 * 13858.0F) - dx_hand_model_B.t803 *

    13858.0F) - dx_hand_model_B.t802 * 7458.0F) - dx_hand_model_B.t835_re *

    7458.0F) - dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t765_re * 7458.0F) - dx_hand_model_B.t822 *

    7458.0F) - dx_hand_model_B.t836_re * 7458.0F) - dx_hand_model_B.t764_re *

    7458.0F) - dx_hand_model_B.t769_re * 7458.0F) - dx_hand_model_B.t771_re *

    7458.0F) - dx_hand_model_B.t823 * 7458.0F) - dx_hand_model_B.t837_re *

    2.7810882E+7F) - dx_hand_model_B.t824 * 2.7810882E+7F) -

    dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) -

    dx_hand_model_B.t16_e * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.tmp_tmp_ji5

    * dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *

    7458.0F) - dx_hand_model_B.t17_f * 7458.0F) - dx_hand_model_B.t825 *

    29832.0F) - dx_hand_model_B.t26_m * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t27_m * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.tmp_tmp_on *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t830_re * 14916.0F) - dx_hand_model_B.tmp_tmp_on *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) - dx_hand_model_B.t26_m *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.tmp_tmp_ji *

    29832.0F) - dx_hand_model_B.t27_m * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.tmp_tmp_iz5

    * dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_da *

    14916.0F) - dx_hand_model_B.tmp_tmp_iz5 *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) - dx_hand_model_B.t16_e *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t761_re *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 12.0F) - dx_hand_model_B.t755 *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.sf_MATLABFunction2.x *

    8.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t804 *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t758_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.tmp_tmp_jy *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_jb *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_gi *

    dx_hand_model_B.sf_MATLABFunction2.x * 8.0F) - dx_hand_model_B.tmp_tmp_om *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_hm4 *

    dx_hand_model_B.sf_MATLABFunction2.y * 8.0F) - dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t803 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t764_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t835_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 12.0F) - dx_hand_model_B.t822 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) - dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_be *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t836_re *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.tmp_tmp_os *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.t823 *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t763_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t836_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.tmp_tmp_egf *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t768_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t823 * dx_hand_model_B.t13_b

    * 2.0F) - dx_hand_model_B.tmp_tmp_egf * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t803 *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t765_re *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t822 * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t755 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t764_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 12.0F) - dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) - dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 12.0F) - dx_hand_model_B.t761_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.t769_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.t771_re *

    dx_hand_model_B.sf_MATLABFunction_h.x * dx_hand_model_B.sf_MATLABFunction2.x

    * 4.0F) - dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.sf_MATLABFunction2.x

    * dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.sf_MATLABFunction2.x *

    8.0F) - dx_hand_model_B.t773_re * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.sf_MATLABFunction1_g.x *

    4.0F) - dx_hand_model_B.t768_re * dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 8.0F) - dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction2.x *

    dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F) - dx_hand_model_B.t804 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t760_re * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.tmp_tmp_ib *

    dx_hand_model_B.sf_MATLABFunction2.x * 4.0F) - dx_hand_model_B.tmp_tmp_mid *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t765_re *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.sf_MATLABFunction2.y *

    8.0F) - dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.sf_MATLABFunction_h.x *

    dx_hand_model_B.sf_MATLABFunction2.x * 8.0F) - dx_hand_model_B.t763_re *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) - dx_hand_model_B.t819 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) - dx_hand_model_B.tmp_tmp_ic

    * dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t802 *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t790 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 4.0F) - dx_hand_model_B.t771_re * dx_hand_model_B.sf_MATLABFunction_h.y *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_pie *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F) - dx_hand_model_B.t818 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t817 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t768_re *

    dx_hand_model_B.sf_MATLABFunction2.y *

    dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) - dx_hand_model_B.tmp_tmp_o4 *

    dx_hand_model_B.sf_MATLABFunction2.y * 4.0F) - dx_hand_model_B.tmp_tmp_h5 *

    dx_hand_model_B.sf_MATLABFunction_h.y * dx_hand_model_B.sf_MATLABFunction2.y

    * 8.0F) - dx_hand_model_B.t802 * dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.t814 *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) - dx_hand_model_B.t769_re *

    dx_hand_model_B.sf_MATLABFunction2.z *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) - dx_hand_model_B.tmp_tmp_ln *

    12800.0F) - dx_hand_model_B.tmp_tmp_lu * 12800.0F) -

    dx_hand_model_B.tmp_tmp_gf * 42632.0F) - dx_hand_model_B.tmp_tmp_jo *

    42632.0F) - dx_hand_model_B.tmp_tmp_f1s * 12800.0F) -

    dx_hand_model_B.tmp_tmp_js * 12800.0F) - dx_hand_model_B.t19_e * 14916.0F) -

    dx_hand_model_B.tmp_tmp_eg * 14916.0F) - dx_hand_model_B.tmp_tmp_tmp_jk *

    14916.0F) - dx_hand_model_B.tmp_tmp_hn * 14916.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction1_g.z

    * 4.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

                       dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

                       dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

                      dx_hand_model_B.tmp_tmp_dn *

                      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

                     dx_hand_model_B.t825 *

                     dx_hand_model_B.sf_MATLABFunction_h.y *

                     dx_hand_model_B.sf_MATLABFunction2.y * 16.0F) -

                    dx_hand_model_B.tmp_tmp_frj *

                    dx_hand_model_B.sf_MATLABFunction1_g.y * 16.0F) -

                   dx_hand_model_B.t830_re *

                   dx_hand_model_B.sf_MATLABFunction_h.y *

                   dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) -

                  dx_hand_model_B.xD1_tmp_tmp_k *

                  dx_hand_model_B.sf_MATLABFunction1_g.z * 12.0F) -

                 dx_hand_model_B.t831_re * dx_hand_model_B.sf_MATLABFunction2.y *

                 dx_hand_model_B.sf_MATLABFunction1_g.y * 8.0F) -

                dx_hand_model_B.tmp_tmp_bf *

                dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

               dx_hand_model_B.tmp_tmp_gbr *

               dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

              dx_hand_model_B.tmp_tmp_tmp_i *

              dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

             dx_hand_model_B.t10_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z *

             4.0F) - dx_hand_model_B.tmp_tmp_axm *

            dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

           dx_hand_model_B.t1256_tmp * dx_hand_model_B.sf_MATLABFunction1_g.z *

           12.0F) - dx_hand_model_B.t24_a *

          dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F) -

         dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.sf_MATLABFunction2.z *

         dx_hand_model_B.sf_MATLABFunction1_g.z * 16.0F) -

        dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.sf_MATLABFunction1_g.z *

        8.0F) - dx_hand_model_B.tmp_tmp_daj *

       dx_hand_model_B.sf_MATLABFunction1_g.z * 8.0F) + dx_hand_model_B.t3 *

      dx_hand_model_B.t16_e) + dx_hand_model_B.t1313 * dx_hand_model_B.t17_f) *

    (1.0F / dx_hand_model_B.t25_h);

  if (dx_hand_model_B.t25_h < 0.0F) {

    dx_hand_model_B.rtb_xH_sol_idx_0_re =

      dx_hand_model_DW.Memory_PreviousInput_e[0];

    dx_hand_model_B.Sum_nf = dx_hand_model_DW.Memory1_PreviousInput[0];

    dx_hand_model_B.rtb_zH_sol_idx_0_re =

      dx_hand_model_DW.Memory2_PreviousInput[0];

    dx_hand_model_B.rtb_xH_sol_idx_1_re =

      dx_hand_model_DW.Memory_PreviousInput_e[1];

    dx_hand_model_B.t1313 = dx_hand_model_DW.Memory1_PreviousInput[1];

    dx_hand_model_B.rtb_zH_sol_idx_1_re =

      dx_hand_model_DW.Memory2_PreviousInput[1];

  } else {

    dx_hand_model_B.t476.re = dx_hand_model_B.t25_h;

    dx_hand_model_B.t476.im = 0.0F;

    dx_hand_model_sqrt_l(&dx_hand_model_B.t476);

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.sf_MATLABFunction2.z;

    dx_hand_model_B.t25_h =

      (((((((((((((((((((((dx_hand_model_B.sf_MATLABFunction1_g.y * 3729.0F +

      dx_hand_model_B.tmp_tmp_ce) + dx_hand_model_B.tmp_tmp_i3r) +

                         dx_hand_model_B.t3 *

                         dx_hand_model_B.sf_MATLABFunction1_g.y) +

                        dx_hand_model_B.tmp_tmp_oo) + dx_hand_model_B.t766_re) +

                      dx_hand_model_B.t794) + dx_hand_model_B.t7 *

                     dx_hand_model_B.sf_MATLABFunction1_g.y) +

                    dx_hand_model_B.tmp_tmp_dv * 2.0F) + dx_hand_model_B.t838_re

                   * dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) +

                  dx_hand_model_B.tmp_tmp_tmp_tmp_gy *

                  dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) -

                 dx_hand_model_B.sf_MATLABFunction2.y * 3729.0F) -

                dx_hand_model_B.tmp_tmp_nn * 2.0F) - dx_hand_model_B.t10_j *

               2.0F) - dx_hand_model_B.t750 * 2.0F) + dx_hand_model_B.t767_re) -

            dx_hand_model_B.DataTypeConversion5_n *

            dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.t4_o *

           dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.t1313 *

          dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.Sum_nf *

         dx_hand_model_B.sf_MATLABFunction1_g.y) - dx_hand_model_B.tmp_tmp_oyy *

        2.0F) - dx_hand_model_B.sf_MATLABFunction2.y *

       dx_hand_model_B.sf_MATLABFunction2.z *

       dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) * dx_hand_model_B.t12_o *

      0.5F;

    dx_hand_model_B.t27_m = 1.0F /

      ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t757_re

      + dx_hand_model_B.t760_re) + dx_hand_model_B.t758_re) +

      dx_hand_model_B.t759_re) + dx_hand_model_B.t804) + dx_hand_model_B.t803) +

      dx_hand_model_B.t763_re) + dx_hand_model_B.t802) + dx_hand_model_B.t797) +

      dx_hand_model_B.t765_re) + dx_hand_model_B.t796) + dx_hand_model_B.t790) +

      dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +

      dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +

      dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) +

      dx_hand_model_B.tmp_tmp_ln * 2.0F) + dx_hand_model_B.tmp_tmp_lu * 2.0F) +

      dx_hand_model_B.tmp_tmp_gf * 2.0F) + dx_hand_model_B.tmp_tmp_jo * 2.0F) +

      dx_hand_model_B.tmp_tmp_f1s * 2.0F) + dx_hand_model_B.tmp_tmp_js * 2.0F) +

      dx_hand_model_B.tmp_tmp_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_tmp_a *

      2.0F) + dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.tmp_tmp_ho * 2.0F)

      + dx_hand_model_B.t749 * 2.0F) + dx_hand_model_B.tmp_tmp_ku * 2.0F) +

      dx_hand_model_B.tmp_tmp_ooe * 2.0F) + dx_hand_model_B.tmp_tmp_nu * 2.0F) +

      dx_hand_model_B.tmp_tmp_tmp_jk * 2.0F) + dx_hand_model_B.tmp_tmp_ki * 2.0F)

      + dx_hand_model_B.t32_p * 2.0F) + dx_hand_model_B.tmp_tmp_hw * 2.0F) -

      dx_hand_model_B.t827_re * 2.0F) - dx_hand_model_B.t11_e * 2.0F) -

      dx_hand_model_B.t828_re * 2.0F) - dx_hand_model_B.tmp_tmp_fn * 2.0F) -

      dx_hand_model_B.t830_re * 2.0F) - dx_hand_model_B.t842_re * 2.0F) -

      dx_hand_model_B.tmp_tmp_nl * 2.0F) - dx_hand_model_B.tmp_tmp_iu * 2.0F) -

                         dx_hand_model_B.tmp_tmp_tmp_p5 * 2.0F) -

                        dx_hand_model_B.tmp_tmp_jz * 2.0F) -

                       dx_hand_model_B.tmp_tmp_da * 2.0F) -

                      dx_hand_model_B.tmp_tmp_c5 * 2.0F) -

                     dx_hand_model_B.tmp_tmp_iy * 2.0F) -

                    dx_hand_model_B.tmp_tmp_pl * 2.0F) -

                   dx_hand_model_B.tmp_tmp_f0 * 2.0F) -

                  dx_hand_model_B.tmp_tmp_nh * 2.0F) -

                 dx_hand_model_B.tmp_tmp_tmp_e * 2.0F) -

                dx_hand_model_B.tmp_tmp_ho4 * 2.0F) -

               dx_hand_model_B.tmp_tmp_tmp_j5 * 2.0F) -

              dx_hand_model_B.tmp_tmp_tmp_jd * 2.0F) -

             dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.tmp_tmp_bn *

            2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -

          dx_hand_model_B.tmp_tmp_eg * 2.0F) - dx_hand_model_B.tmp_tmp_hm * 2.0F)

        - dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_hn * 2.0F);

    dx_hand_model_B.t28_h = dx_hand_model_B.tmp_tmp_be * 2.0F;

    dx_hand_model_B.t32_p = dx_hand_model_B.tmp_tmp_os * 2.0F;

    dx_hand_model_B.t10_j = dx_hand_model_B.t987_re * 3729.0F;

    dx_hand_model_B.t11_e = dx_hand_model_B.t832_re * 3729.0F;

    dx_hand_model_B.t19_e = dx_hand_model_B.t833_re * 3729.0F;

    dx_hand_model_B.t20_c = dx_hand_model_B.t821 * 3729.0F;

    dx_hand_model_B.t16_e = dx_hand_model_B.t834_re * 3.0F;

    dx_hand_model_B.t1251 = dx_hand_model_B.t820 * 3.0F;

    dx_hand_model_B.t17_f = dx_hand_model_B.t819 * 2.0F;

    dx_hand_model_B.t1261 = dx_hand_model_B.t818 * 2.0F;

    dx_hand_model_B.t1328 = dx_hand_model_B.t817 * 2.0F;

    dx_hand_model_B.t739 = dx_hand_model_B.t815 * 2.0F;

    dx_hand_model_B.t749 = dx_hand_model_B.t814 * 2.0F;

    dx_hand_model_B.t750 = dx_hand_model_B.t813 * 2.0F;

    dx_hand_model_B.t752 = dx_hand_model_B.t812 * 2.0F;

    dx_hand_model_B.t754 = dx_hand_model_B.t810 * 2.0F;

    dx_hand_model_B.t755 = dx_hand_model_B.t808 * 2.0F;

    dx_hand_model_B.t756.re = dx_hand_model_B.t757_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t757_re = dx_hand_model_B.t760_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t758_re = dx_hand_model_B.t758_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t759_re = dx_hand_model_B.t759_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t760_re = dx_hand_model_B.t804 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t761_re = dx_hand_model_B.t803 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t762_re = dx_hand_model_B.t763_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t763_re = dx_hand_model_B.t802 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t764_re = dx_hand_model_B.t797 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t765_re = dx_hand_model_B.t765_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t766_re = dx_hand_model_B.t796 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t767_re = dx_hand_model_B.t790 * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t768_re = dx_hand_model_B.t768_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t769_re = dx_hand_model_B.t769_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t770_re = dx_hand_model_B.t770_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t771_re = dx_hand_model_B.t771_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t772_re = dx_hand_model_B.t772_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t773_re = dx_hand_model_B.t773_re * dx_hand_model_B.t476.re *

      2.0F;

    dx_hand_model_B.t774 *= 3729.0F;

    dx_hand_model_B.t775 *= 7458.0F;

    dx_hand_model_B.t776 *= 3729.0F;

    dx_hand_model_B.t777 *= 3729.0F;

    dx_hand_model_B.t778 *= 7458.0F;

    dx_hand_model_B.t779 *= 3729.0F;

    dx_hand_model_B.t780 *= 4.0F;

    dx_hand_model_B.t781 *= 2.0F;

    dx_hand_model_B.t782 *= 3.0F;

    dx_hand_model_B.t785 *= 3.0F;

    dx_hand_model_B.t790 = dx_hand_model_B.tmp_tmp_gs * 2.0F;

    dx_hand_model_B.t794 = dx_hand_model_B.tmp_tmp_ik * 5.0F;

    dx_hand_model_B.t796 = dx_hand_model_B.tmp_tmp_dd * 3.0F;

    dx_hand_model_B.t797 = dx_hand_model_B.tmp_tmp_er * 3.0F;

    dx_hand_model_B.t802 = dx_hand_model_B.tmp_tmp_ch * 4.0F;

    dx_hand_model_B.t803 = dx_hand_model_B.tmp_tmp_nm * 2.0F;

    dx_hand_model_B.t804 = dx_hand_model_B.tmp_tmp_h2 * 3.0F;

    dx_hand_model_B.t29_c = dx_hand_model_B.tmp_tmp_i3 * 2.0F;

    dx_hand_model_B.t808 = dx_hand_model_B.tmp_tmp_jr * 5.0F;

    dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_db * 3.0F;

    dx_hand_model_B.t812 = dx_hand_model_B.tmp_tmp_f1 * 2.0F;

    dx_hand_model_B.t813 = dx_hand_model_B.tmp_tmp_lg * 4.0F;

    dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_if * 2.0F;

    dx_hand_model_B.t815 = dx_hand_model_B.tmp_tmp_c3 * 4.0F;

    dx_hand_model_B.t18_h = dx_hand_model_B.tmp_tmp_g4 * 2.0F;

    dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_bt * 2.0F;

    dx_hand_model_B.t818 = dx_hand_model_B.tmp_tmp_bi * 2.0F;

    dx_hand_model_B.t819 = dx_hand_model_B.tmp_tmp_daj * 2.0F;

    dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_nhy * 4.0F;

    dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_hs * 4.0F;

    dx_hand_model_B.t822 = dx_hand_model_B.tmp_tmp_dat * 2.0F;

    dx_hand_model_B.t823 = dx_hand_model_B.tmp_tmp_el * 2.0F;

    dx_hand_model_B.t824 = dx_hand_model_B.tmp_tmp_ds * 2.0F;

    dx_hand_model_B.t825 = dx_hand_model_B.tmp_tmp_kt * 2.0F;

    dx_hand_model_B.t832_re = dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.t476.re;

    dx_hand_model_B.t834_re = dx_hand_model_B.t832_re *

      dx_hand_model_B.sf_MATLABFunction2.x;

    dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t834_re *

      dx_hand_model_B.sf_MATLABFunction_h.y;

    dx_hand_model_B.t826_re = dx_hand_model_B.tmp_tmp_cx *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.t836_re = dx_hand_model_B.t832_re *

      dx_hand_model_B.sf_MATLABFunction1_g.x;

    dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t836_re *

      dx_hand_model_B.sf_MATLABFunction_h.y;

    dx_hand_model_B.t827_re = dx_hand_model_B.tmp_tmp_m1 *

      dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;

    dx_hand_model_B.t828_re = dx_hand_model_B.t834_re *

      dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.sf_MATLABFunction2.x *

      dx_hand_model_B.t476.re * dx_hand_model_B.sf_MATLABFunction1_g.x;

    dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_da *

      dx_hand_model_B.sf_MATLABFunction_h.y;

    dx_hand_model_B.t829_re = dx_hand_model_B.t832_re *

      dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;

    dx_hand_model_B.t830_re = dx_hand_model_B.t836_re *

      dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.t831_re = dx_hand_model_B.t832_re *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t834_re *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_pie *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t836_re *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t833_re = dx_hand_model_B.tmp_tmp_c5 *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.t834_re = dx_hand_model_B.t834_re *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t837_re = dx_hand_model_B.tmp_tmp_da *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t835_re = dx_hand_model_B.t837_re *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.t836_re = dx_hand_model_B.t836_re *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t837_re = dx_hand_model_B.t837_re *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t839_re = dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.t476.re;

    dx_hand_model_B.t840_re = dx_hand_model_B.t839_re *

      dx_hand_model_B.sf_MATLABFunction2.y;

    dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t840_re *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t838_re = dx_hand_model_B.tmp_tmp_be *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t842_re = dx_hand_model_B.t839_re *

      dx_hand_model_B.sf_MATLABFunction1_g.y;

    dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t842_re *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t839_re = dx_hand_model_B.tmp_tmp_os *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.t840_re = dx_hand_model_B.t840_re *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t987_re = dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.t476.re * dx_hand_model_B.sf_MATLABFunction1_g.y;

    dx_hand_model_B.t843_re = dx_hand_model_B.t987_re *

      dx_hand_model_B.sf_MATLABFunction_h.z;

    dx_hand_model_B.t841_re = dx_hand_model_B.t843_re *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.t842_re = dx_hand_model_B.t842_re *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t843_re = dx_hand_model_B.t843_re *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_jw *= 3729.0F;

    dx_hand_model_B.tmp_tmp_d4 *= 3729.0F;

    dx_hand_model_B.tmp_tmp_ob *= 3729.0F;

    dx_hand_model_B.tmp_tmp_ey *= 3729.0F;

    dx_hand_model_B.tmp_tmp_kv *= 2.0F;

    dx_hand_model_B.tmp_tmp_cy *= 3.0F;

    dx_hand_model_B.tmp_tmp_jk *= 2.0F;

    dx_hand_model_B.tmp_tmp_fz *= 2.0F;

    dx_hand_model_B.tmp_tmp_cm *= 2.0F;

    dx_hand_model_B.tmp_tmp_kq *= 3.0F;

    dx_hand_model_B.tmp_tmp_fnt *= 2.0F;

    dx_hand_model_B.tmp_tmp_iv *= 2.0F;

    dx_hand_model_B.tmp_tmp_nnx *= 3.0F;

    dx_hand_model_B.tmp_tmp_he *= 2.0F;

    dx_hand_model_B.tmp_tmp_hz *= 4.0F;

    dx_hand_model_B.tmp_tmp_nq *= 3.0F;

    dx_hand_model_B.tmp_tmp_mi *= 4.0F;

    dx_hand_model_B.tmp_tmp_kuk *= 3729.0F;

    dx_hand_model_B.tmp_tmp_fc *= 3729.0F;

    dx_hand_model_B.tmp_tmp_eh *= 3729.0F;

    dx_hand_model_B.tmp_tmp_jkf *= 3729.0F;

    dx_hand_model_B.tmp_tmp_hc *= 3729.0F;

    dx_hand_model_B.tmp_tmp_al *= 3729.0F;

    dx_hand_model_B.tmp_tmp_bs *= 3729.0F;

    dx_hand_model_B.tmp_tmp_f2 *= 3729.0F;

    dx_hand_model_B.tmp_tmp_dy *= 2.0F;

    dx_hand_model_B.tmp_tmp_li *= 2.0F;

    dx_hand_model_B.tmp_tmp_kg *= 3.0F;

    dx_hand_model_B.tmp_tmp_ft *= 2.0F;

    dx_hand_model_B.tmp_tmp_gd *= 2.0F;

    dx_hand_model_B.tmp_tmp_jc *= 2.0F;

    dx_hand_model_B.tmp_tmp_cqr *= 2.0F;

    dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_gbr * 3.0F;

    dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.tmp_tmp_ge * 3.0F;

    dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.tmp_tmp_izd * 2.0F;

    dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.tmp_tmp_ez * 2.0F;

    dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.tmp_tmp_mz * 2.0F;

    dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.tmp_tmp_og * 2.0F;

    dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.tmp_tmp_hnt * 2.0F;

    dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.tmp_tmp_oc * 4.0F;

    dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.tmp_tmp_hi * 3.0F;

    dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.tmp_tmp_axm * 3.0F;

    dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_k * 2.0F;

    dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_jzu * 2.0F;

    dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.tmp_tmp_tmp_eb * 3.0F;

    dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_tmp_j * 2.0F;

    dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.t34_a * 2.0F;

    dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.t33_p * 3.0F;

    dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.t31_p * 2.0F;

    dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.t30_k * 4.0F;

    dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.tmp_tmp_tmp_tmp_g * 2.0F;

    dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_tmp_o2 * 3.0F;

    dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_tmp_tmp * 2.0F;

    dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.tmp_tmp_tmp_ok * 4.0F;

    dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.tmp_tmp_tmp_g * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp *= 2.0F;

    dx_hand_model_B.tmp_tmp_tmp_b *= 2.0F;

    dx_hand_model_B.tmp_tmp_g3 *= 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_c1 *= 2.0F;

    dx_hand_model_B.tmp_tmp_tmp_c *= 2.0F;

    dx_hand_model_B.tmp_tmp_tmp_tmp = dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction2.z;

    dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.t13_b * dx_hand_model_B.t476.re;

    dx_hand_model_B.t13_b = dx_hand_model_B.tmp_tmp_oc *

      dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction2.x * 4.0F;

    dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t1313 * dx_hand_model_B.t476.re;

    dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_hi *

      dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;

    dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.t4_o * dx_hand_model_B.t476.re;

    dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.tmp_tmp_axm *

      dx_hand_model_B.sf_MATLABFunction2.x *

      dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;

    dx_hand_model_B.t33_p = dx_hand_model_B.t15_g * dx_hand_model_B.t476.re;

    dx_hand_model_B.t15_g = dx_hand_model_B.t33_p *

      dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction2.x * 4.0F;

    dx_hand_model_B.t34_a = dx_hand_model_B.t7 * dx_hand_model_B.t476.re;

    dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.t34_a *

      dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.Sum_nf *

      dx_hand_model_B.t476.re;

    dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp_j *

      dx_hand_model_B.sf_MATLABFunction2.x *

      dx_hand_model_B.sf_MATLABFunction1_g.x * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.DataTypeConversion5_n *

      dx_hand_model_B.t476.re;

    dx_hand_model_B.t30_k = dx_hand_model_B.tmp_tmp_tmp_eb *

      dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.t3 * dx_hand_model_B.t476.re;

    dx_hand_model_B.t31_p = dx_hand_model_B.tmp_tmp_jzu *

      dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.t14_a *

      dx_hand_model_B.t476.re;

    dx_hand_model_B.t14_a = dx_hand_model_B.tmp_tmp_tmp_k *

      dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;

    dx_hand_model_B.t33_p = dx_hand_model_B.t33_p *

      dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;

    dx_hand_model_B.t34_a = dx_hand_model_B.t34_a *

      dx_hand_model_B.sf_MATLABFunction_h.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_tmp_j *

      dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.tmp_tmp_tmp_eb *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_jzu *

      dx_hand_model_B.sf_MATLABFunction_h.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_k *

      dx_hand_model_B.sf_MATLABFunction_h.z *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_axm *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.tmp_tmp_hi *

      dx_hand_model_B.sf_MATLABFunction_h.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_oc *

      dx_hand_model_B.sf_MATLABFunction_h.z *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.tmp_tmp_cx *

      dx_hand_model_B.sf_MATLABFunction2.y * 4.0F;

    dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.tmp_tmp_m1 *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_da *

      dx_hand_model_B.sf_MATLABFunction2.y *

      dx_hand_model_B.sf_MATLABFunction1_g.y * 4.0F;

    dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.tmp_tmp_pie *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.tmp_tmp_c5 *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.tmp_tmp_da *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.tmp_tmp_be *

      dx_hand_model_B.sf_MATLABFunction2.z * 4.0F;

    dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.tmp_tmp_os *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.t987_re *

      dx_hand_model_B.sf_MATLABFunction2.z *

      dx_hand_model_B.sf_MATLABFunction1_g.z * 4.0F;

    dx_hand_model_B.t987_re =

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      (((((((((((((((((((((((((((((((((((((((((-dx_hand_model_B.t28_h -

      dx_hand_model_B.tmp_tmp_m4e) - dx_hand_model_B.tmp_tmp_ktf) -

      dx_hand_model_B.tmp_tmp_a0x) - dx_hand_model_B.t32_p) -

      dx_hand_model_B.tmp_tmp_jkx) - dx_hand_model_B.tmp_tmp_kbp) -

      dx_hand_model_B.tmp_tmp_hj5) - dx_hand_model_B.tmp_tmp_d1) -

      dx_hand_model_B.t10_j) - dx_hand_model_B.t11_e) -

      dx_hand_model_B.tmp_tmp_j1) - dx_hand_model_B.t19_e) -

      dx_hand_model_B.t20_c) - dx_hand_model_B.t16_e) -

      dx_hand_model_B.tmp_tmp_n) - dx_hand_model_B.JTcomp_idx_3_tmp_my) -

      dx_hand_model_B.JTcomp_idx_3_tmp_j) - dx_hand_model_B.JTcomp_idx_3_tmp_n)

      - dx_hand_model_B.tmp_tmp_cg) - dx_hand_model_B.t1251) -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) -

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) - dx_hand_model_B.tmp_tmp_dn) -

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) - dx_hand_model_B.tmp_tmp_fx) -

      dx_hand_model_B.tmp_tmp_pm) - dx_hand_model_B.tmp_tmp_nj) -

      dx_hand_model_B.t17_f) - dx_hand_model_B.tmp_tmp_k) -

      dx_hand_model_B.tmp_tmp_n3) - dx_hand_model_B.tmp_tmp_oy) -

      dx_hand_model_B.tmp_tmp_gg) - dx_hand_model_B.tmp_tmp_cq) -

      dx_hand_model_B.t1261) - dx_hand_model_B.t1328) - dx_hand_model_B.t739) -

      dx_hand_model_B.tmp_tmp_jp) - dx_hand_model_B.tmp_tmp_kn) -

      dx_hand_model_B.tmp_tmp_mx) - dx_hand_model_B.tmp_tmp_pr) -

      dx_hand_model_B.tmp_tmp_d) - dx_hand_model_B.tmp_tmp_dx) -

      dx_hand_model_B.tmp_tmp_g4k) - dx_hand_model_B.tmp_tmp_o30) -

      dx_hand_model_B.tmp_tmp_b) - dx_hand_model_B.t749) - dx_hand_model_B.t750)

      - dx_hand_model_B.tmp_tmp_pw) - dx_hand_model_B.t752) -

      dx_hand_model_B.tmp_tmp_pi) - dx_hand_model_B.t754) - dx_hand_model_B.t755)

      + dx_hand_model_B.t756.re) + dx_hand_model_B.t757_re) +

      dx_hand_model_B.t758_re) + dx_hand_model_B.t759_re) +

      dx_hand_model_B.t760_re) + dx_hand_model_B.t761_re) +

      dx_hand_model_B.t762_re) + dx_hand_model_B.t763_re) +

      dx_hand_model_B.t764_re) + dx_hand_model_B.t765_re) +

      dx_hand_model_B.t766_re) + dx_hand_model_B.t767_re) +

      dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +

      dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +

      dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) - dx_hand_model_B.t774)

      - dx_hand_model_B.t775) - dx_hand_model_B.t776) - dx_hand_model_B.t777) -

      dx_hand_model_B.t778) - dx_hand_model_B.t779) - dx_hand_model_B.t780) -

      dx_hand_model_B.t781) - dx_hand_model_B.t782) -

      dx_hand_model_B.tmp_tmp_lm5) - dx_hand_model_B.tmp_tmp_bf) -

      dx_hand_model_B.t785) - dx_hand_model_B.tmp_tmp_tmp_p) -

      dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.tmp_tmp_tmp_kn) -

      dx_hand_model_B.tmp_tmp_tmp_ca) - dx_hand_model_B.t790) -

      dx_hand_model_B.tmp_tmp_tmp_i) - dx_hand_model_B.rtb_xH_sol_idx_0_re) -

      dx_hand_model_B.t10_tmp) - dx_hand_model_B.t794) -

      dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.t796) -

      dx_hand_model_B.t797) - dx_hand_model_B.tmp_tmp_tmp_ji) -

      dx_hand_model_B.tmp_tmp_tmp_tmp_a) - dx_hand_model_B.tmp_tmp_tmp_ol) -

      dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t802) -

      dx_hand_model_B.t803) - dx_hand_model_B.t804) -

      dx_hand_model_B.rtb_xH_sol_idx_1_re) - dx_hand_model_B.t29_c) -

      dx_hand_model_B.t24_a) - dx_hand_model_B.t808) -

      dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.t810) -

      dx_hand_model_B.tmp_tmp_tmp_d) - dx_hand_model_B.t812) -

      dx_hand_model_B.t813) - dx_hand_model_B.t814) - dx_hand_model_B.t815) -

      dx_hand_model_B.t18_h) - dx_hand_model_B.t817) - dx_hand_model_B.t818) -

      dx_hand_model_B.t819) - dx_hand_model_B.t820) - dx_hand_model_B.t821) -

      dx_hand_model_B.t822) - dx_hand_model_B.t823) - dx_hand_model_B.t824) -

      dx_hand_model_B.t825) + dx_hand_model_B.t826_re) + dx_hand_model_B.t827_re)

      + dx_hand_model_B.t828_re) + dx_hand_model_B.t829_re) +

      dx_hand_model_B.t830_re) + dx_hand_model_B.t831_re) +

      dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +

      dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +

      dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +

      dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +

      dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +

      dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) +

      dx_hand_model_B.tmp_tmp_jw) + dx_hand_model_B.tmp_tmp_d4) +

      dx_hand_model_B.xD1_tmp_tmp_i) + dx_hand_model_B.tmp_tmp_ob) +

      dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.xD1_tmp_tmp_c) +

      dx_hand_model_B.tmp_tmp_kv) + dx_hand_model_B.t1248) +

      dx_hand_model_B.t1250) + dx_hand_model_B.t1252) +

      dx_hand_model_B.tmp_tmp_cy) + dx_hand_model_B.tmp_tmp_jk) +

      dx_hand_model_B.tmp_tmp_fz) + dx_hand_model_B.t1212) +

      dx_hand_model_B.tmp_tmp_cm) + dx_hand_model_B.t1253) +

      dx_hand_model_B.t1254) + dx_hand_model_B.t1255) +

      dx_hand_model_B.tmp_tmp_kq) + dx_hand_model_B.tmp_tmp_fnt) +

      dx_hand_model_B.tmp_tmp_iv) + dx_hand_model_B.xD1_tmp_tmp) +

      dx_hand_model_B.tmp_tmp_nnx) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp) +

      dx_hand_model_B.JTcomp_idx_3_tmp) + dx_hand_model_B.JTcomp_idx_3_tmp_f) +

      dx_hand_model_B.JTcomp_idx_3_tmp_h) + dx_hand_model_B.tmp_tmp_he) +

      dx_hand_model_B.tmp_tmp_hz) + dx_hand_model_B.JTcomp_idx_3_tmp_m) +

      dx_hand_model_B.xD1_tmp) + dx_hand_model_B.xD1_tmp_i) +

      dx_hand_model_B.tmp_tmp_nq) + dx_hand_model_B.xD1_tmp_tmp_m) +

      dx_hand_model_B.xD1_tmp_p) + dx_hand_model_B.xD1_tmp_f) +

      dx_hand_model_B.tmp_tmp_mi) + dx_hand_model_B.xD1_tmp_tmp_o) +

      dx_hand_model_B.JTcomp_idx_3_tmp_a) + dx_hand_model_B.JTcomp_idx_3_tmp_k)

      + dx_hand_model_B.JTcomp_idx_3_tmp_p) + dx_hand_model_B.tmp_tmp_kuk) +

      dx_hand_model_B.tmp_tmp_fc) + dx_hand_model_B.tmp_tmp_eh) +

      dx_hand_model_B.tmp_tmp_jkf) + dx_hand_model_B.tmp_tmp_hc) +

      dx_hand_model_B.tmp_tmp_al) + dx_hand_model_B.tmp_tmp_bs) +

      dx_hand_model_B.tmp_tmp_f2) + dx_hand_model_B.tmp_tmp_dy) +

      dx_hand_model_B.tmp_tmp_li) + dx_hand_model_B.xD1_tmp_tmp_k) +

      dx_hand_model_B.t1312) + dx_hand_model_B.tmp_tmp_kg) +

      dx_hand_model_B.xD1_tmp_o) + dx_hand_model_B.tmp_tmp_ft) +

      dx_hand_model_B.tmp_tmp_gd) + dx_hand_model_B.tmp_tmp_jc) +

      dx_hand_model_B.t1226) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) +

      dx_hand_model_B.tmp_tmp_cqr) + dx_hand_model_B.tmp_tmp_egf) +

      dx_hand_model_B.tmp_tmp_mxd) + dx_hand_model_B.tmp_tmp_of) +

      dx_hand_model_B.tmp_tmp_tmp_o) + dx_hand_model_B.tmp_tmp_ai) +

      dx_hand_model_B.t8_h) + dx_hand_model_B.t9_tmp_d) +

      dx_hand_model_B.tmp_tmp_ji5) + dx_hand_model_B.tmp_tmp_jkm) +

      dx_hand_model_B.tmp_tmp_ee) + dx_hand_model_B.rtb_zH_sol_idx_0_re) +

      dx_hand_model_B.rtb_zH_sol_idx_1_re) + dx_hand_model_B.t26_tmp_g) +

      dx_hand_model_B.tmp_tmp_jy) + dx_hand_model_B.tmp_tmp_jb) +

      dx_hand_model_B.tmp_tmp_gi) + dx_hand_model_B.tmp_tmp_om) +

      dx_hand_model_B.tmp_tmp_hm4) + dx_hand_model_B.tmp_tmp_tmp_py) +

      dx_hand_model_B.tmp_tmp_c2b) + dx_hand_model_B.tmp_tmp_a0g) +

      dx_hand_model_B.tmp_tmp_lua) + dx_hand_model_B.t1256_tmp) +

      dx_hand_model_B.t33_tmp) + dx_hand_model_B.tmp_tmp_jcs) +

      dx_hand_model_B.tmp_tmp_ib) + dx_hand_model_B.t34_tmp) +

      dx_hand_model_B.t9_l) + dx_hand_model_B.tmp_tmp_mid) +

      dx_hand_model_B.tmp_tmp_ftf) + dx_hand_model_B.tmp_tmp_on) +

      dx_hand_model_B.tmp_tmp_iz5) + dx_hand_model_B.tmp_tmp_o4) +

      dx_hand_model_B.tmp_tmp_frj) + dx_hand_model_B.tmp_tmp_tmp) +

      dx_hand_model_B.tmp_tmp_tmp_b) + dx_hand_model_B.tmp_tmp_g3) +

      dx_hand_model_B.tmp_tmp_tmp_c1) + dx_hand_model_B.tmp_tmp_tmp_c) -

      dx_hand_model_B.t13_b) - dx_hand_model_B.tmp_tmp_tmp_g) -

      dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.t15_g) -

      dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -

      dx_hand_model_B.t30_k) - dx_hand_model_B.t31_p) - dx_hand_model_B.t14_a) -

                       dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) -

                     dx_hand_model_B.tmp_tmp_tmp_j) -

                    dx_hand_model_B.tmp_tmp_tmp_eb) -

                   dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_tmp_k)

                 - dx_hand_model_B.tmp_tmp_axm) - dx_hand_model_B.tmp_tmp_hi) -

               dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_cx) -

             dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt) -

           dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5) -

         dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -

       dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og;

    dx_hand_model_B.t1251 =

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      ((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t28_h

      + dx_hand_model_B.tmp_tmp_m4e) + dx_hand_model_B.tmp_tmp_ktf) +

      dx_hand_model_B.tmp_tmp_a0x) + dx_hand_model_B.t32_p) +

      dx_hand_model_B.tmp_tmp_jkx) + dx_hand_model_B.tmp_tmp_kbp) +

      dx_hand_model_B.tmp_tmp_hj5) + dx_hand_model_B.tmp_tmp_d1) +

      dx_hand_model_B.t10_j) + dx_hand_model_B.t11_e) +

      dx_hand_model_B.tmp_tmp_j1) + dx_hand_model_B.t19_e) +

      dx_hand_model_B.t20_c) + dx_hand_model_B.t16_e) +

      dx_hand_model_B.tmp_tmp_n) + dx_hand_model_B.JTcomp_idx_3_tmp_my) +

      dx_hand_model_B.JTcomp_idx_3_tmp_j) + dx_hand_model_B.JTcomp_idx_3_tmp_n)

      + dx_hand_model_B.tmp_tmp_cg) + dx_hand_model_B.t1251) +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) +

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e) + dx_hand_model_B.tmp_tmp_dn) +

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp) + dx_hand_model_B.tmp_tmp_fx) +

      dx_hand_model_B.tmp_tmp_pm) + dx_hand_model_B.tmp_tmp_nj) +

      dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_k) +

      dx_hand_model_B.tmp_tmp_n3) + dx_hand_model_B.tmp_tmp_oy) +

      dx_hand_model_B.tmp_tmp_gg) + dx_hand_model_B.tmp_tmp_cq) +

      dx_hand_model_B.t1261) + dx_hand_model_B.t1328) + dx_hand_model_B.t739) +

      dx_hand_model_B.tmp_tmp_jp) + dx_hand_model_B.tmp_tmp_kn) +

      dx_hand_model_B.tmp_tmp_mx) + dx_hand_model_B.tmp_tmp_pr) +

      dx_hand_model_B.tmp_tmp_d) + dx_hand_model_B.tmp_tmp_dx) +

      dx_hand_model_B.tmp_tmp_g4k) + dx_hand_model_B.tmp_tmp_o30) +

      dx_hand_model_B.tmp_tmp_b) + dx_hand_model_B.t749) + dx_hand_model_B.t750)

      + dx_hand_model_B.tmp_tmp_pw) + dx_hand_model_B.t752) +

      dx_hand_model_B.tmp_tmp_pi) + dx_hand_model_B.t754) + dx_hand_model_B.t755)

      + dx_hand_model_B.t756.re) + dx_hand_model_B.t757_re) +

      dx_hand_model_B.t758_re) + dx_hand_model_B.t759_re) +

      dx_hand_model_B.t760_re) + dx_hand_model_B.t761_re) +

      dx_hand_model_B.t762_re) + dx_hand_model_B.t763_re) +

      dx_hand_model_B.t764_re) + dx_hand_model_B.t765_re) +

      dx_hand_model_B.t766_re) + dx_hand_model_B.t767_re) +

      dx_hand_model_B.t768_re) + dx_hand_model_B.t769_re) +

      dx_hand_model_B.t770_re) + dx_hand_model_B.t771_re) +

      dx_hand_model_B.t772_re) + dx_hand_model_B.t773_re) + dx_hand_model_B.t774)

      + dx_hand_model_B.t775) + dx_hand_model_B.t776) + dx_hand_model_B.t777) +

      dx_hand_model_B.t778) + dx_hand_model_B.t779) + dx_hand_model_B.t780) +

      dx_hand_model_B.t781) + dx_hand_model_B.t782) +

      dx_hand_model_B.tmp_tmp_lm5) + dx_hand_model_B.tmp_tmp_bf) +

      dx_hand_model_B.t785) + dx_hand_model_B.tmp_tmp_tmp_p) +

      dx_hand_model_B.tmp_tmp_tmp_cm) + dx_hand_model_B.tmp_tmp_tmp_kn) +

      dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.t790) +

      dx_hand_model_B.tmp_tmp_tmp_i) + dx_hand_model_B.rtb_xH_sol_idx_0_re) +

      dx_hand_model_B.t10_tmp) + dx_hand_model_B.t794) +

      dx_hand_model_B.tmp_tmp_tmp_oc) + dx_hand_model_B.t796) +

      dx_hand_model_B.t797) + dx_hand_model_B.tmp_tmp_tmp_ji) +

      dx_hand_model_B.tmp_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_ol) +

      dx_hand_model_B.tmp_tmp_tmp_al) + dx_hand_model_B.t802) +

      dx_hand_model_B.t803) + dx_hand_model_B.t804) +

      dx_hand_model_B.rtb_xH_sol_idx_1_re) + dx_hand_model_B.t29_c) +

      dx_hand_model_B.t24_a) + dx_hand_model_B.t808) +

      dx_hand_model_B.tmp_tmp_tmp_h) + dx_hand_model_B.t810) +

      dx_hand_model_B.tmp_tmp_tmp_d) + dx_hand_model_B.t812) +

                        dx_hand_model_B.t813) + dx_hand_model_B.t814) +

                      dx_hand_model_B.t815) + dx_hand_model_B.t18_h) +

                    dx_hand_model_B.t817) + dx_hand_model_B.t818) +

                  dx_hand_model_B.t819) + dx_hand_model_B.t820) +

                dx_hand_model_B.t821) + dx_hand_model_B.t822) +

              dx_hand_model_B.t823) + dx_hand_model_B.t824) +

            dx_hand_model_B.t825) + dx_hand_model_B.t826_re) +

          dx_hand_model_B.t827_re) + dx_hand_model_B.t828_re) +

        dx_hand_model_B.t829_re) + dx_hand_model_B.t830_re) +

      dx_hand_model_B.t831_re;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t12_o *

      (((((dx_hand_model_B.tmp_tmp_tmp_tmp_gy +

           dx_hand_model_B.sf_MATLABFunction1_g.y *

           dx_hand_model_B.sf_MATLABFunction_h.z) +

          dx_hand_model_B.sf_MATLABFunction2.y *

          dx_hand_model_B.sf_MATLABFunction1_g.z) -

         dx_hand_model_B.sf_MATLABFunction2.y *

         dx_hand_model_B.sf_MATLABFunction_h.z) -

        dx_hand_model_B.sf_MATLABFunction_h.y *

        dx_hand_model_B.sf_MATLABFunction1_g.z) -

       dx_hand_model_B.sf_MATLABFunction1_g.y *

       dx_hand_model_B.sf_MATLABFunction2.z) * dx_hand_model_B.t27_m;

    dx_hand_model_B.rtb_xH_sol_idx_0_re =

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251

      + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +

      dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +

      dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +

      dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +

      dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +

      dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -

      dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_ob) -

      dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.tmp_tmp_d4) -

      dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.xD1_tmp_tmp_c) -

      dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.xD1_tmp) -

      dx_hand_model_B.JTcomp_idx_3_tmp_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp)

      - dx_hand_model_B.xD1_tmp_tmp_m) - dx_hand_model_B.xD1_tmp_f) -

      dx_hand_model_B.JTcomp_idx_3_tmp_k) - dx_hand_model_B.xD1_tmp_i) -

      dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -

      dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -

      dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -

      dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_p) -

      dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -

      dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -

      dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -

      dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -

      dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -

      dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.t13_b) -

      dx_hand_model_B.t15_g) - dx_hand_model_B.tmp_tmp_tmp_g) -

      dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_ok) -

      dx_hand_model_B.tmp_tmp_tmp_tmp_g) - dx_hand_model_B.t14_a) -

      dx_hand_model_B.t33_p) - dx_hand_model_B.t31_p) - dx_hand_model_B.t34_a) -

      dx_hand_model_B.t30_k) - dx_hand_model_B.tmp_tmp_tmp_j) -

      dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_k) -

      dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_hi) -

      dx_hand_model_B.tmp_tmp_tmp_eb) - dx_hand_model_B.tmp_tmp_axm) -

      dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.tmp_tmp_ft) -

      dx_hand_model_B.tmp_tmp_ai) - dx_hand_model_B.tmp_tmp_gd) -

      dx_hand_model_B.tmp_tmp_dy) - dx_hand_model_B.t1252) -

      dx_hand_model_B.t1250) - dx_hand_model_B.xD1_tmp_o) -

      dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) - dx_hand_model_B.t8_h) -

      dx_hand_model_B.t1248) - dx_hand_model_B.tmp_tmp_cqr) -

      dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_li) -

      dx_hand_model_B.xD1_tmp_tmp_k) - dx_hand_model_B.tmp_tmp_fz) -

      dx_hand_model_B.tmp_tmp_jc) - dx_hand_model_B.tmp_tmp_egf) -

      dx_hand_model_B.tmp_tmp_of) - dx_hand_model_B.tmp_tmp_jk) -

      dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.t1212) -

      dx_hand_model_B.tmp_tmp_kg) - dx_hand_model_B.t1226) -

      dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -

      dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_mxd) -

      dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_ji5) -

      dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.tmp_tmp_ib) -

      dx_hand_model_B.tmp_tmp_a0g) - dx_hand_model_B.tmp_tmp_ee) -

      dx_hand_model_B.t9_tmp_d) - dx_hand_model_B.t26_tmp_g) -

      dx_hand_model_B.t1255) - dx_hand_model_B.t1254) - dx_hand_model_B.t34_tmp)

      - dx_hand_model_B.t1253) - dx_hand_model_B.tmp_tmp_hm4) -

      dx_hand_model_B.tmp_tmp_mid) - dx_hand_model_B.tmp_tmp_jkm) -

      dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -

      dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -

      dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.tmp_tmp_fnt) -

      dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.rtb_zH_sol_idx_1_re) -

      dx_hand_model_B.tmp_tmp_tmp_py) - dx_hand_model_B.xD1_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_jcs) - dx_hand_model_B.t9_l) -

      dx_hand_model_B.tmp_tmp_jb) - dx_hand_model_B.t33_tmp) -

                         dx_hand_model_B.tmp_tmp_on) -

                        dx_hand_model_B.tmp_tmp_ftf) -

                       dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_cx)

                     - dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt)

                   - dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5)

                 - dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -

               dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og) -

             dx_hand_model_B.tmp_tmp_o4) - dx_hand_model_B.tmp_tmp_frj) -

           dx_hand_model_B.tmp_tmp_tmp) - dx_hand_model_B.tmp_tmp_tmp_b) -

         dx_hand_model_B.tmp_tmp_g3) - dx_hand_model_B.tmp_tmp_tmp_c1) -

       dx_hand_model_B.tmp_tmp_tmp_c) *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 0.5F +

      dx_hand_model_B.t25_h;

    dx_hand_model_B.rtb_xH_sol_idx_1_re = dx_hand_model_B.t25_h -

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t987_re *

      0.5F;

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t12_o *

      dx_hand_model_B.t27_m * (((((dx_hand_model_B.tmp_tmp_tmp_tmp +

      dx_hand_model_B.sf_MATLABFunction1_g.x *

      dx_hand_model_B.sf_MATLABFunction_h.z) +

      dx_hand_model_B.sf_MATLABFunction2.x *

      dx_hand_model_B.sf_MATLABFunction1_g.z) -

      dx_hand_model_B.sf_MATLABFunction2.x *

      dx_hand_model_B.sf_MATLABFunction_h.z) -

      dx_hand_model_B.sf_MATLABFunction_h.x *

      dx_hand_model_B.sf_MATLABFunction1_g.z) -

      dx_hand_model_B.sf_MATLABFunction1_g.x *

      dx_hand_model_B.sf_MATLABFunction2.z);

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t12_o *

      (((((((((((((((((((((dx_hand_model_B.sf_MATLABFunction1_g.x * 3729.0F +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +

                         dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.t1313

                        * dx_hand_model_B.sf_MATLABFunction1_g.x) +

                       dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +

                      dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) +

                     dx_hand_model_B.t7 * dx_hand_model_B.sf_MATLABFunction1_g.x)

                    + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

                    dx_hand_model_B.sf_MATLABFunction1_g.x * 2.0F) +

                   dx_hand_model_B.t9_tmp_n *

                   dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) +

                  dx_hand_model_B.tmp_tmp_tmp_tmp *

                  dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) -

                 dx_hand_model_B.sf_MATLABFunction2.x * 3729.0F) -

                dx_hand_model_B.JTcomp_idx_3_tmp_c * 2.0F) -

               dx_hand_model_B.t1309 * 2.0F) -

              dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * 2.0F) +

             dx_hand_model_B.JTcomp_idx_3_tmp_i) -

            dx_hand_model_B.DataTypeConversion5_n *

            dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.t3 *

           dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.t4_o *

          dx_hand_model_B.sf_MATLABFunction1_g.x) - dx_hand_model_B.Sum_nf *

         dx_hand_model_B.sf_MATLABFunction1_g.x) -

        dx_hand_model_B.sf_MATLABFunction2.x *

        dx_hand_model_B.sf_MATLABFunction2.y *

        dx_hand_model_B.sf_MATLABFunction1_g.y * 2.0F) -

       dx_hand_model_B.sf_MATLABFunction2.x *

       dx_hand_model_B.sf_MATLABFunction2.z *

       dx_hand_model_B.sf_MATLABFunction1_g.z * 2.0F) * -0.5F;

    dx_hand_model_B.Sum_nf = dx_hand_model_B.DataTypeConversion5_n -

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251

      + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +

      dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +

      dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +

      dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +

      dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +

      dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -

      dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_d4) -

      dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.tmp_tmp_ob) -

      dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.xD1_tmp_tmp_c) -

      dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.t1248) -

      dx_hand_model_B.t1250) - dx_hand_model_B.t1252) -

      dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.tmp_tmp_jk) -

      dx_hand_model_B.tmp_tmp_fz) - dx_hand_model_B.t1212) -

      dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.t1253) -

      dx_hand_model_B.t1254) - dx_hand_model_B.t1255) -

      dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.tmp_tmp_fnt) -

      dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.xD1_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp) -

      dx_hand_model_B.JTcomp_idx_3_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -

      dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -

      dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -

      dx_hand_model_B.xD1_tmp) - dx_hand_model_B.xD1_tmp_i) -

      dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_tmp_m) -

      dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_f) -

      dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -

      dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.JTcomp_idx_3_tmp_k)

      - dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -

      dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -

      dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -

      dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -

      dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.tmp_tmp_dy) -

      dx_hand_model_B.tmp_tmp_li) - dx_hand_model_B.xD1_tmp_tmp_k) -

      dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_kg) -

      dx_hand_model_B.xD1_tmp_o) - dx_hand_model_B.tmp_tmp_ft) -

      dx_hand_model_B.tmp_tmp_gd) - dx_hand_model_B.tmp_tmp_jc) -

      dx_hand_model_B.t1226) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_cqr) - dx_hand_model_B.tmp_tmp_egf) -

      dx_hand_model_B.tmp_tmp_mxd) - dx_hand_model_B.tmp_tmp_of) -

      dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.tmp_tmp_ai) -

      dx_hand_model_B.t8_h) - dx_hand_model_B.t9_tmp_d) -

      dx_hand_model_B.tmp_tmp_ji5) - dx_hand_model_B.tmp_tmp_jkm) -

      dx_hand_model_B.tmp_tmp_ee) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -

      dx_hand_model_B.rtb_zH_sol_idx_1_re) - dx_hand_model_B.t26_tmp_g) -

      dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_jb) -

      dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -

      dx_hand_model_B.tmp_tmp_hm4) - dx_hand_model_B.tmp_tmp_tmp_py) -

      dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_a0g) -

      dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -

      dx_hand_model_B.t33_tmp) - dx_hand_model_B.tmp_tmp_jcs) -

      dx_hand_model_B.tmp_tmp_ib) - dx_hand_model_B.t34_tmp) -

      dx_hand_model_B.t9_l) - dx_hand_model_B.tmp_tmp_mid) -

      dx_hand_model_B.tmp_tmp_ftf) - dx_hand_model_B.tmp_tmp_on) -

      dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_o4) -

      dx_hand_model_B.tmp_tmp_frj) - dx_hand_model_B.tmp_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_tmp_b) - dx_hand_model_B.tmp_tmp_g3) -

      dx_hand_model_B.tmp_tmp_tmp_c1) - dx_hand_model_B.tmp_tmp_tmp_c) -

      dx_hand_model_B.t13_b) - dx_hand_model_B.t15_g) -

      dx_hand_model_B.tmp_tmp_tmp_g) - dx_hand_model_B.tmp_tmp_tmp_o2) -

      dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -

      dx_hand_model_B.t14_a) - dx_hand_model_B.t33_p) - dx_hand_model_B.t31_p) -

                        dx_hand_model_B.t34_a) - dx_hand_model_B.t30_k) -

                      dx_hand_model_B.tmp_tmp_tmp_j) -

                     dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_k)

                   - dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_hi)

                 - dx_hand_model_B.tmp_tmp_tmp_eb) - dx_hand_model_B.tmp_tmp_axm)

               - dx_hand_model_B.tmp_tmp_cx) - dx_hand_model_B.tmp_tmp_m1) -

             dx_hand_model_B.tmp_tmp_hnt) - dx_hand_model_B.tmp_tmp_pie) -

           dx_hand_model_B.tmp_tmp_c5) - dx_hand_model_B.tmp_tmp_da) -

         dx_hand_model_B.tmp_tmp_be) - dx_hand_model_B.tmp_tmp_os) -

       dx_hand_model_B.tmp_tmp_og) *

      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 0.5F;

    dx_hand_model_B.t1313 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

      dx_hand_model_B.t987_re * 0.5F + dx_hand_model_B.DataTypeConversion5_n;

    dx_hand_model_B.rtb_zH_sol_idx_0_re =

      (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

      ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1251

      + dx_hand_model_B.t832_re) + dx_hand_model_B.t833_re) +

      dx_hand_model_B.t834_re) + dx_hand_model_B.t835_re) +

      dx_hand_model_B.t836_re) + dx_hand_model_B.t837_re) +

      dx_hand_model_B.t838_re) + dx_hand_model_B.t839_re) +

      dx_hand_model_B.t840_re) + dx_hand_model_B.t841_re) +

      dx_hand_model_B.t842_re) + dx_hand_model_B.t843_re) -

      dx_hand_model_B.tmp_tmp_jw) - dx_hand_model_B.tmp_tmp_d4) -

      dx_hand_model_B.xD1_tmp_tmp_i) - dx_hand_model_B.tmp_tmp_ob) -

      dx_hand_model_B.tmp_tmp_ey) - dx_hand_model_B.xD1_tmp_tmp_c) -

      dx_hand_model_B.tmp_tmp_kv) - dx_hand_model_B.t1248) -

      dx_hand_model_B.t1250) - dx_hand_model_B.t1252) -

      dx_hand_model_B.tmp_tmp_cy) - dx_hand_model_B.tmp_tmp_jk) -

      dx_hand_model_B.tmp_tmp_fz) - dx_hand_model_B.t1212) -

      dx_hand_model_B.tmp_tmp_cm) - dx_hand_model_B.t1253) -

      dx_hand_model_B.t1254) - dx_hand_model_B.t1255) -

      dx_hand_model_B.tmp_tmp_kq) - dx_hand_model_B.tmp_tmp_fnt) -

      dx_hand_model_B.tmp_tmp_iv) - dx_hand_model_B.xD1_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_nnx) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp) -

      dx_hand_model_B.JTcomp_idx_3_tmp) - dx_hand_model_B.JTcomp_idx_3_tmp_f) -

      dx_hand_model_B.JTcomp_idx_3_tmp_h) - dx_hand_model_B.tmp_tmp_he) -

      dx_hand_model_B.tmp_tmp_hz) - dx_hand_model_B.JTcomp_idx_3_tmp_m) -

      dx_hand_model_B.xD1_tmp) - dx_hand_model_B.xD1_tmp_i) -

      dx_hand_model_B.tmp_tmp_nq) - dx_hand_model_B.xD1_tmp_tmp_m) -

      dx_hand_model_B.xD1_tmp_p) - dx_hand_model_B.xD1_tmp_f) -

      dx_hand_model_B.tmp_tmp_mi) - dx_hand_model_B.xD1_tmp_tmp_o) -

      dx_hand_model_B.JTcomp_idx_3_tmp_a) - dx_hand_model_B.JTcomp_idx_3_tmp_k)

      - dx_hand_model_B.JTcomp_idx_3_tmp_p) - dx_hand_model_B.tmp_tmp_kuk) -

      dx_hand_model_B.tmp_tmp_fc) - dx_hand_model_B.tmp_tmp_eh) -

      dx_hand_model_B.tmp_tmp_jkf) - dx_hand_model_B.tmp_tmp_hc) -

      dx_hand_model_B.tmp_tmp_al) - dx_hand_model_B.tmp_tmp_bs) -

      dx_hand_model_B.tmp_tmp_f2) - dx_hand_model_B.tmp_tmp_dy) -

      dx_hand_model_B.tmp_tmp_li) - dx_hand_model_B.xD1_tmp_tmp_k) -

      dx_hand_model_B.t1312) - dx_hand_model_B.tmp_tmp_kg) -

      dx_hand_model_B.xD1_tmp_o) - dx_hand_model_B.tmp_tmp_ft) -

      dx_hand_model_B.tmp_tmp_gd) - dx_hand_model_B.tmp_tmp_jc) -

      dx_hand_model_B.t1226) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_cqr) - dx_hand_model_B.tmp_tmp_egf) -

      dx_hand_model_B.tmp_tmp_mxd) - dx_hand_model_B.tmp_tmp_of) -

      dx_hand_model_B.tmp_tmp_tmp_o) - dx_hand_model_B.tmp_tmp_ai) -

      dx_hand_model_B.t8_h) - dx_hand_model_B.t9_tmp_d) -

      dx_hand_model_B.tmp_tmp_ji5) - dx_hand_model_B.tmp_tmp_jkm) -

      dx_hand_model_B.tmp_tmp_ee) - dx_hand_model_B.rtb_zH_sol_idx_0_re) -

      dx_hand_model_B.rtb_zH_sol_idx_1_re) - dx_hand_model_B.t26_tmp_g) -

      dx_hand_model_B.tmp_tmp_jy) - dx_hand_model_B.tmp_tmp_jb) -

      dx_hand_model_B.tmp_tmp_gi) - dx_hand_model_B.tmp_tmp_om) -

      dx_hand_model_B.tmp_tmp_hm4) - dx_hand_model_B.tmp_tmp_tmp_py) -

      dx_hand_model_B.tmp_tmp_c2b) - dx_hand_model_B.tmp_tmp_a0g) -

      dx_hand_model_B.tmp_tmp_lua) - dx_hand_model_B.t1256_tmp) -

      dx_hand_model_B.t33_tmp) - dx_hand_model_B.tmp_tmp_jcs) -

      dx_hand_model_B.tmp_tmp_ib) - dx_hand_model_B.t34_tmp) -

      dx_hand_model_B.t9_l) - dx_hand_model_B.tmp_tmp_mid) -

      dx_hand_model_B.tmp_tmp_ftf) - dx_hand_model_B.tmp_tmp_on) -

      dx_hand_model_B.tmp_tmp_iz5) - dx_hand_model_B.tmp_tmp_o4) -

      dx_hand_model_B.tmp_tmp_frj) - dx_hand_model_B.tmp_tmp_tmp) -

      dx_hand_model_B.tmp_tmp_tmp_b) - dx_hand_model_B.tmp_tmp_g3) -

      dx_hand_model_B.tmp_tmp_tmp_c1) - dx_hand_model_B.tmp_tmp_tmp_c) -

      dx_hand_model_B.t13_b) - dx_hand_model_B.tmp_tmp_tmp_g) -

      dx_hand_model_B.tmp_tmp_tmp_ok) - dx_hand_model_B.t15_g) -

      dx_hand_model_B.tmp_tmp_tmp_o2) - dx_hand_model_B.tmp_tmp_tmp_tmp_g) -

      dx_hand_model_B.t30_k) - dx_hand_model_B.t31_p) - dx_hand_model_B.t14_a) -

                        dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) -

                      dx_hand_model_B.tmp_tmp_tmp_j) -

                     dx_hand_model_B.tmp_tmp_tmp_eb) -

                    dx_hand_model_B.tmp_tmp_jzu) - dx_hand_model_B.tmp_tmp_tmp_k)

                  - dx_hand_model_B.tmp_tmp_axm) - dx_hand_model_B.tmp_tmp_hi) -

                dx_hand_model_B.tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_cx) -

              dx_hand_model_B.tmp_tmp_m1) - dx_hand_model_B.tmp_tmp_hnt) -

            dx_hand_model_B.tmp_tmp_pie) - dx_hand_model_B.tmp_tmp_c5) -

          dx_hand_model_B.tmp_tmp_da) - dx_hand_model_B.tmp_tmp_be) -

        dx_hand_model_B.tmp_tmp_os) - dx_hand_model_B.tmp_tmp_og) *

      dx_hand_model_B.t27_m * 0.5F;

    dx_hand_model_B.rtb_zH_sol_idx_1_re = dx_hand_model_B.t27_m *

      dx_hand_model_B.t987_re * -0.5F;

  }



  /* End of MATLAB Function: '<S243>/MATLAB Function3' */



  /* ComplexToRealImag: '<S243>/Complex to Real-Imag3' */

  dx_hand_model_B.q_dif[0] = dx_hand_model_B.Sum_nf;

  dx_hand_model_B.q_dif[1] = dx_hand_model_B.t1313;



  /* MATLAB Function: '<S243>/MATLAB Function9' incorporates:

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag2'

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag3'

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag4'

   */

  if (dx_hand_model_B.Sum_nf > dx_hand_model_B.t1313) {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.rtb_xH_sol_idx_0_re;

    dx_hand_model_B.t1313 = dx_hand_model_B.Sum_nf;

    dx_hand_model_B.Sum_nf = dx_hand_model_B.rtb_zH_sol_idx_0_re;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.rtb_xH_sol_idx_1_re;

    dx_hand_model_B.Sum_nf = dx_hand_model_B.rtb_zH_sol_idx_1_re;

  }



  /* End of MATLAB Function: '<S243>/MATLAB Function9' */



  /* ComplexToRealImag: '<S227>/Complex to Real-Imag8' */

  dx_hand_model_B.TmpSignalConversionAtSFun_h[0] =

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.TmpSignalConversionAtSFun_h[1] = dx_hand_model_B.t1313;

  dx_hand_model_B.TmpSignalConversionAtSFun_h[2] = dx_hand_model_B.Sum_nf;



  /* MATLAB Function: '<S242>/MATLAB Function3' */

  dx_hand_mod_MATLABFunction3(dx_hand_model_B.TmpSignalConversionAtSFun_h,

    &dx_hand_model_B.sf_MATLABFunction3_b);



  /* MATLAB Function: '<S242>/MATLAB Function1' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag2'

   */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.Memory_d,

    &dx_hand_model_B.sf_MATLABFunction1_h);



  /* ComplexToRealImag: '<S242>/Complex to Real-Imag2' incorporates:

   *  MATLAB Function: '<S242>/MATLAB Function5'

   */

  dx_hand_model_B.ComplextoRealImag_b[0] =

    (dx_hand_model_B.sf_MATLABFunction3_b.x -

     dx_hand_model_B.sf_MATLABFunction1_h.x) * 52.0F / 73.0F +

    dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.ComplextoRealImag_b[1] =

    (dx_hand_model_B.sf_MATLABFunction3_b.y -

     dx_hand_model_B.sf_MATLABFunction1_h.y) * 52.0F / 73.0F +

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.ComplextoRealImag_b[2] =

    (dx_hand_model_B.sf_MATLABFunction3_b.z -

     dx_hand_model_B.sf_MATLABFunction1_h.z) * 52.0F / 73.0F +

    dx_hand_model_B.sf_MATLABFunction1_h.z;



  /* MATLAB Function: '<S233>/MATLAB Function3' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag10'

   */

  dx_hand_mod_MATLABFunction3(dx_hand_model_B.ComplextoRealImag_b,

    &dx_hand_model_B.sf_MATLABFunction3_bs);



  /* MATLAB Function: '<S242>/MATLAB Function2' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag4'

   */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.I,

    &dx_hand_model_B.sf_MATLABFunction2_g);



  /* MATLAB Function: '<S242>/MATLAB Function' */

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction1_h.x

    * dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.t4_o = dx_hand_model_B.sf_MATLABFunction1_h.z *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t1313 = dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.Sum_nf = dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction2_g.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.t8_h = dx_hand_model_B.sf_MATLABFunction2_g.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.t9_l = dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.t10_j = dx_hand_model_B.sf_MATLABFunction2_g.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z;

  dx_hand_model_B.t11_e = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;

  dx_hand_model_B.t12_o = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;

  dx_hand_model_B.t1212 = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t15_g = dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp =

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp

    * dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t13_b = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t27_m = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t28_h = dx_hand_model_B.t4_o * dx_hand_model_B.t8_h;

  dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t8_h;

  dx_hand_model_B.t1226 = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1248 = dx_hand_model_B.t4_o * dx_hand_model_B.t9_l;

  dx_hand_model_B.t1250 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;

  dx_hand_model_B.t1252 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.t1253 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.t1254 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t749 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.t1251 = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.t32_p = dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.t1255 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t9_l;

  dx_hand_model_B.t1312 = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t7;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t3 * dx_hand_model_B.t7;

  dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t8_h * dx_hand_model_B.t9_l;

  dx_hand_model_B.t19_e = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t10_j;

  dx_hand_model_B.t17_f = dx_hand_model_B.t3 * dx_hand_model_B.t10_j;

  dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.Sum_nf * dx_hand_model_B.t10_j;

  dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.t9_l * dx_hand_model_B.t10_j;

  dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.t7 *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t9_l *

    dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.t10_j *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.t757_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t757_re *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.t760_re = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.t8_h *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.t10_j *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.t1261 = dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t1328 = dx_hand_model_B.t9_l *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.xD1_tmp = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t13_b *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_nnx *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.tmp_tmp_iv *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.tmp_tmp_fnt *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.t739 = dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.t750 = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.t752 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.t754 = dx_hand_model_B.tmp_tmp_dn *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.t755 = dx_hand_model_B.tmp_tmp_bf *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.JTcomp_idx_3_tmp_my *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.t16_e =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255

    * 5329.0F + dx_hand_model_B.t1312 * 5329.0F) + dx_hand_model_B.xD1_tmp_o *

    5329.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 5329.0F) +

    dx_hand_model_B.xD1_tmp_tmp_k * 5329.0F) + dx_hand_model_B.xD1_tmp_tmp_i *

    5329.0F) + dx_hand_model_B.t1309 * 5329.0F) + dx_hand_model_B.t27_m *

    5329.0F) + dx_hand_model_B.t19_e * 5329.0F) + dx_hand_model_B.t28_h *

    5329.0F) + dx_hand_model_B.t17_f * 5329.0F) + dx_hand_model_B.t14_a *

    5329.0F) + dx_hand_model_B.t1226 * 5329.0F) + dx_hand_model_B.t1248 *

    5329.0F) + dx_hand_model_B.tmp_tmp_kq * 5329.0F) + dx_hand_model_B.t1250 *

    5329.0F) + dx_hand_model_B.tmp_tmp_cm * 5329.0F) + dx_hand_model_B.t1252 *

    5329.0F) + dx_hand_model_B.xD1_tmp_i * 10658.0F) +

    dx_hand_model_B.xD1_tmp_tmp_m * 10658.0F) + dx_hand_model_B.xD1_tmp_f *

    10658.0F) + dx_hand_model_B.xD1_tmp_tmp_o * 10658.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_a * 10658.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_k * 10658.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_j * dx_hand_model_B.sf_MATLABFunction2_g.z *

    10658.0F) + dx_hand_model_B.t750 * 10658.0F) + dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) + dx_hand_model_B.t752 *

    10658.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +

    dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.sf_MATLABFunction2_g.z *

    10658.0F) + dx_hand_model_B.t755 * 10658.0F) + dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +

    dx_hand_model_B.tmp_tmp_cy * 10658.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction2_g.z

    * 10658.0F) - dx_hand_model_B.xD1_tmp_tmp_c * 10658.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 10658.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp * 10658.0F) - dx_hand_model_B.tmp_tmp_fz *

    10658.0F) - dx_hand_model_B.t1253 * 10658.0F) - dx_hand_model_B.t1254 *

    10658.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f * 10658.0F) -

                       dx_hand_model_B.JTcomp_idx_3_tmp_h * 10658.0F) -

                      dx_hand_model_B.JTcomp_idx_3_tmp_m * 10658.0F) -

                     dx_hand_model_B.tmp_tmp_jk * 10658.0F) -

                    dx_hand_model_B.t749 * 10658.0F) - dx_hand_model_B.t32_p *

                   10658.0F) - dx_hand_model_B.DataTypeConversion5_n *

                  dx_hand_model_B.sf_MATLABFunction3_b.z *

                  dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -

                 dx_hand_model_B.t1261 * dx_hand_model_B.sf_MATLABFunction2_g.z *

                 10658.0F) - dx_hand_model_B.t8_h *

                dx_hand_model_B.sf_MATLABFunction1_h.z *

                dx_hand_model_B.sf_MATLABFunction3_b.z * 10658.0F) -

               dx_hand_model_B.Sum_nf * dx_hand_model_B.sf_MATLABFunction3_b.z *

               dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -

              dx_hand_model_B.t1328 * dx_hand_model_B.sf_MATLABFunction2_g.z *

              10658.0F) - dx_hand_model_B.t7 *

             dx_hand_model_B.sf_MATLABFunction1_h.z *

             dx_hand_model_B.sf_MATLABFunction3_b.z * 10658.0F) -

            dx_hand_model_B.xD1_tmp * 10658.0F) - dx_hand_model_B.xD1_tmp_p *

           10658.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_p * 10658.0F) -

         dx_hand_model_B.t739 * 10658.0F) -

        dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

        dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -

       dx_hand_model_B.JTcomp_idx_3_tmp_i *

       dx_hand_model_B.sf_MATLABFunction3_b.z *

       dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) - dx_hand_model_B.t754

      * 10658.0F) - dx_hand_model_B.tmp_tmp_bf *

     dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 10658.0F;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.sf_MATLABFunction3_b.x;

  dx_hand_model_B.t15_g = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t4_o *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t759_re = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.t758_re = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_n =

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1226 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t1248 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t1250 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1255 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t1312 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.xD1_tmp_tmp_k *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t19_e *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_kq *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_cm *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t1254 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.t749 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.t749 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t32_p *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t1254 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.t759_re *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.t32_p *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.xD1_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.xD1_tmp_tmp_m *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.xD1_tmp_f *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.xD1_tmp_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.JTcomp_idx_3_tmp_a *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t20_c = dx_hand_model_B.JTcomp_idx_3_tmp_k *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.t1226 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.t1252 *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.t1248 *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.xD1_tmp_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.JTcomp_idx_3_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.JTcomp_idx_3_tmp *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.tmp_tmp_fz *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.JTcomp_idx_3_tmp_f *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.JTcomp_idx_3_tmp_h *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.JTcomp_idx_3_tmp_m *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_jk *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.xD1_tmp *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.xD1_tmp_p *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.JTcomp_idx_3_tmp_p *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t17_f =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_cqr * 7592.0F +

    dx_hand_model_B.JTcomp_idx_3_tmp_j * 3066.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e * 3066.0F) + dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +

    dx_hand_model_B.tmp_tmp_gd * 7592.0F) + dx_hand_model_B.tmp_tmp_bf * 3066.0F)

    + dx_hand_model_B.tmp_tmp_m4e * 3066.0F) + dx_hand_model_B.t1252 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) -

    dx_hand_model_B.tmp_tmp_k * 15184.0F) - dx_hand_model_B.tmp_tmp_n3 * 6132.0F)

    - dx_hand_model_B.tmp_tmp_cq * 15184.0F) - dx_hand_model_B.tmp_tmp_jp *

    6132.0F) + dx_hand_model_B.tmp_tmp_ktf * 3066.0F) +

    dx_hand_model_B.tmp_tmp_a0x * 3066.0F) + dx_hand_model_B.tmp_tmp_jkx *

    3066.0F) + dx_hand_model_B.tmp_tmp_kbp * 3066.0F) + dx_hand_model_B.t1255 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) + dx_hand_model_B.t1312 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +

    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F)

    + dx_hand_model_B.tmp_tmp_hj5 * 3066.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.sf_MATLABFunction3_b.z

    * 7592.0F) + dx_hand_model_B.tmp_tmp_d1 * 3066.0F) +

    dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.sf_MATLABFunction3_b.z *

    7592.0F) + dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * 3066.0F) + dx_hand_model_B.tmp_tmp_j1 *

    3066.0F) + dx_hand_model_B.tmp_tmp_kg * 7592.0F) + dx_hand_model_B.t19_e *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) - dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +

    dx_hand_model_B.tmp_tmp_n * 3066.0F) - dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -

    dx_hand_model_B.tmp_tmp_jc * 12118.0F) + dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 1460.0F) + dx_hand_model_B.t17_f *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) +

    dx_hand_model_B.tmp_tmp_dn * 3066.0F) + dx_hand_model_B.tmp_tmp_cg * 3066.0F)

    + dx_hand_model_B.tmp_tmp_li * 7592.0F) + dx_hand_model_B.tmp_tmp_kq *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 7592.0F) - dx_hand_model_B.t1226 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +

    dx_hand_model_B.tmp_tmp_fx * 3066.0F) - dx_hand_model_B.t1248 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -

    dx_hand_model_B.tmp_tmp_ft * 12118.0F) + dx_hand_model_B.t1250 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 1460.0F) +

    dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.sf_MATLABFunction3_b.z *

    7592.0F) - dx_hand_model_B.tmp_tmp_dy * 6132.0F) -

    dx_hand_model_B.tmp_tmp_f2 * 6132.0F) - dx_hand_model_B.tmp_tmp_bs * 6132.0F)

    - dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.sf_MATLABFunction3_b.z *

    15184.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.sf_MATLABFunction3_b.z *

    15184.0F) - dx_hand_model_B.tmp_tmp_kn * 15184.0F) -

    dx_hand_model_B.tmp_tmp_mx * 6132.0F) - dx_hand_model_B.tmp_tmp_al * 6132.0F)

    + dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) +

    dx_hand_model_B.tmp_tmp_pm * 9052.0F) + dx_hand_model_B.tmp_tmp_fc * 6132.0F)

    - dx_hand_model_B.tmp_tmp_hc * 6132.0F) - dx_hand_model_B.tmp_tmp_jkf *

    6132.0F) - dx_hand_model_B.tmp_tmp_eh * 6132.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.sf_MATLABFunction2_g.z *

    6132.0F) - dx_hand_model_B.tmp_tmp_fz *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +

    dx_hand_model_B.tmp_tmp_nj * 15184.0F) - dx_hand_model_B.tmp_tmp_pr *

    9052.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_f *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.sf_MATLABFunction3_b.z *

    15184.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_m *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) + dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t1254 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) -

    dx_hand_model_B.tmp_tmp_d * 15184.0F) - dx_hand_model_B.tmp_tmp_dx * 6132.0F)

    - dx_hand_model_B.tmp_tmp_kuk * 6132.0F) + dx_hand_model_B.t759_re *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) +

    dx_hand_model_B.tmp_tmp_oy * 9052.0F) + dx_hand_model_B.tmp_tmp_mi * 6132.0F)

    - dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction1_h.z *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -

    dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction3_b.z *

    15184.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) +

    dx_hand_model_B.tmp_tmp_gg * 15184.0F) - dx_hand_model_B.tmp_tmp_g4k *

    9052.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t749 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) + dx_hand_model_B.t32_p *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) - dx_hand_model_B.Sum_nf *

    dx_hand_model_B.sf_MATLABFunction1_h.z *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 6132.0F) - dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 15184.0F) -

    dx_hand_model_B.tmp_tmp_nq * 6132.0F) + dx_hand_model_B.tmp_tmp_o30 *

    6132.0F) + dx_hand_model_B.tmp_tmp_b * 6132.0F) - dx_hand_model_B.tmp_tmp_hz

    * 6132.0F) - dx_hand_model_B.xD1_tmp *

                       dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

                      dx_hand_model_B.xD1_tmp_i *

                      dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

                     dx_hand_model_B.tmp_tmp_pw * 6132.0F) +

                    dx_hand_model_B.xD1_tmp_tmp_m *

                    dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

                   dx_hand_model_B.tmp_tmp_pi * 6132.0F) -

                  dx_hand_model_B.xD1_tmp_p *

                  dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

                 dx_hand_model_B.tmp_tmp_lm5 * 6132.0F) + dx_hand_model_B.t20_c *

                6132.0F) + dx_hand_model_B.xD1_tmp_f *

               dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

              dx_hand_model_B.xD1_tmp_tmp_o *

              dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

             dx_hand_model_B.JTcomp_idx_3_tmp_a *

             dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

            dx_hand_model_B.JTcomp_idx_3_tmp_k *

            dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) -

           dx_hand_model_B.tmp_tmp_he * 6132.0F) -

          dx_hand_model_B.JTcomp_idx_3_tmp_p *

          dx_hand_model_B.sf_MATLABFunction3_b.z * 15184.0F) +

         dx_hand_model_B.t739 * dx_hand_model_B.sf_MATLABFunction2_g.z *

         21316.0F) - dx_hand_model_B.t750 *

        dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F) + dx_hand_model_B.t752

       * dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F) +

      dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction2_g.z * 21316.0F)

     - dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction2_g.z * 9052.0F)

    + dx_hand_model_B.tmp_tmp_cy * dx_hand_model_B.sf_MATLABFunction2_g.z *

    9052.0F;

  dx_hand_model_B.t749 = dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t32_p = dx_hand_model_B.sf_MATLABFunction2_g.x *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t19_e = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.y;

  dx_hand_model_B.t25_h = 1.0F / (((((dx_hand_model_B.t19_e +

    dx_hand_model_B.t32_p) + dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.y) - dx_hand_model_B.t749) -

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.y) -

    dx_hand_model_B.sf_MATLABFunction2_g.x *

    dx_hand_model_B.sf_MATLABFunction3_b.y);

  dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.sf_MATLABFunction2_g.y *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t13_b = ((((((((((((((((((((dx_hand_model_B.t760_re * 52.0F +

    dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * 52.0F) +

    dx_hand_model_B.t4_o * dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * 21.0F) +

    dx_hand_model_B.t1212 * dx_hand_model_B.sf_MATLABFunction2_g.y * 31.0F) +

    dx_hand_model_B.tmp_tmp_iv * 21.0F) + dx_hand_model_B.tmp_tmp_fnt * 52.0F) +

    dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction3_b.z * 21.0F)

    + dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.sf_MATLABFunction2_g.z *

    21.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.sf_MATLABFunction3_b.z

    * 31.0F) + dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) - dx_hand_model_B.t757_re *

    21.0F) - dx_hand_model_B.t1251 * 21.0F) - dx_hand_model_B.t3 *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) - dx_hand_model_B.t1313 *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) - dx_hand_model_B.t13_b *

    21.0F) - dx_hand_model_B.tmp_tmp_nnx * 52.0F) - dx_hand_model_B.xD1_tmp_tmp *

    52.0F) - dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.sf_MATLABFunction2_g.z

    * 21.0F) - dx_hand_model_B.tmp_tmp_kq *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 52.0F) - dx_hand_model_B.tmp_tmp_cm

    * dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F;

  dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t = dx_hand_model_B.t3 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t1261 = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1212 = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;

  dx_hand_model_B.t1328 = dx_hand_model_B.t1254 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t739 = dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t750 = dx_hand_model_B.t1313 * dx_hand_model_B.t9_l;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction1_h.x;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t10_j;

  dx_hand_model_B.t754 = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t755 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t761_re = dx_hand_model_B.t759_re *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t757_re = dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t760_re = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t758_re = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t759_re = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t762_re = dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t1313 * dx_hand_model_B.t10_j;

  dx_hand_model_B.t476.re = 1.0F / (dx_hand_model_B.t16_e *

    dx_hand_model_B.t16_e) * (dx_hand_model_B.t17_f * dx_hand_model_B.t17_f) *

    0.25F -

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t12_o * 2704.0F + dx_hand_model_B.t3 * dx_hand_model_B.t11_e

    * 441.0F) + dx_hand_model_B.t8_h * dx_hand_model_B.t11_e * 441.0F) +

    dx_hand_model_B.t8_h * dx_hand_model_B.t12_o * 2704.0F) +

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o * 2704.0F) +

    dx_hand_model_B.t9_l * dx_hand_model_B.t11_e * 441.0F) + dx_hand_model_B.t7 *

    dx_hand_model_B.t11_e * 441.0F) + dx_hand_model_B.t7 * dx_hand_model_B.t12_o

    * 2704.0F) + dx_hand_model_B.xD1_tmp_tmp_c * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_f * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_h * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_m * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction3_b.z

    * 2184.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 1302.0F) +

    dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.sf_MATLABFunction3_b.z *

    2184.0F) + dx_hand_model_B.tmp_tmp_bf *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.sf_MATLABFunction3_b.z *

    1302.0F) + dx_hand_model_B.t1251 * dx_hand_model_B.t9_l * 441.0F) +

    dx_hand_model_B.t27_m * dx_hand_model_B.Sum_nf * 441.0F) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t7 * 441.0F) + dx_hand_model_B.t1261

    * dx_hand_model_B.t8_h * 441.0F) + dx_hand_model_B.t1309 *

    dx_hand_model_B.t9_l * 2704.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.Sum_nf *

    2704.0F) + dx_hand_model_B.t1309 * dx_hand_model_B.t7 * 2704.0F) +

    dx_hand_model_B.t27_m * dx_hand_model_B.t7 * 441.0F) + dx_hand_model_B.t1226

    * dx_hand_model_B.t8_h * 2704.0F) + dx_hand_model_B.t28_h *

    dx_hand_model_B.t9_l * 441.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t7 *

    2704.0F) + dx_hand_model_B.t14_a * dx_hand_model_B.t9_l * 2704.0F) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t1313 * 441.0F) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t10_j * 441.0F) +

    dx_hand_model_B.t27_m * dx_hand_model_B.t1313 * 2704.0F) +

    dx_hand_model_B.t1309 * dx_hand_model_B.t10_j * 2704.0F) +

    dx_hand_model_B.t27_m * dx_hand_model_B.t10_j * 441.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t10_j *

    2704.0F) + dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf * 441.0F) +

    dx_hand_model_B.t1261 * dx_hand_model_B.t10_j * 441.0F) +

    dx_hand_model_B.t1212 * dx_hand_model_B.t9_l * 2704.0F) +

    dx_hand_model_B.t1226 * dx_hand_model_B.t10_j * 2704.0F) +

    dx_hand_model_B.t1248 * dx_hand_model_B.t10_j * 441.0F) +

    dx_hand_model_B.t750 * dx_hand_model_B.t10_j * 2704.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 3486.0F) +

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.sf_MATLABFunction3_b.z *

    2184.0F) + dx_hand_model_B.tmp_tmp_a0x *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.sf_MATLABFunction3_b.z *

    2184.0F) + dx_hand_model_B.tmp_tmp_kbp *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    2184.0F) + dx_hand_model_B.tmp_tmp_d1 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.sf_MATLABFunction2_g.y *

    3486.0F) + dx_hand_model_B.tmp_tmp_j1 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) +

    dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F)

    + dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.sf_MATLABFunction3_b.z *

    2184.0F) + dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 2184.0F) + dx_hand_model_B.xD1_tmp *

    1.0913792E+7F) + dx_hand_model_B.xD1_tmp_p * 1.0913792E+7F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_p * 1.0913792E+7F) + dx_hand_model_B.t754 *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) +

    dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.sf_MATLABFunction3_b.z *

    1040.0F) + dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    882.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +

    dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.sf_MATLABFunction3_b.z *

    5408.0F) + dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)

    + dx_hand_model_B.t761_re * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)

    + dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.sf_MATLABFunction3_b.z *

    1040.0F) + dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction3_b.z *

    882.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.sf_MATLABFunction3_b.z *

    5408.0F) + dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) +

    dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)

    + dx_hand_model_B.t760_re * dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F)

    + dx_hand_model_B.t758_re * dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F)

    + dx_hand_model_B.t759_re * dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F)

    + dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) + dx_hand_model_B.t762_re *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) + dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) + dx_hand_model_B.t1328 *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) + dx_hand_model_B.t739 *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) + dx_hand_model_B.t1253 *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) + dx_hand_model_B.t739 *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) +

    dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.sf_MATLABFunction2_g.z *

    9776.0F) + dx_hand_model_B.tmp_tmp_mx *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5250.0F) +

    dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.sf_MATLABFunction2_g.z *

    1040.0F) + dx_hand_model_B.tmp_tmp_pr *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 3486.0F) +

    dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.sf_MATLABFunction2_g.z * 9776.0F)

    + dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.sf_MATLABFunction2_g.z *

    5250.0F) + dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 1040.0F) +

    dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.sf_MATLABFunction2_g.z *

    3486.0F) + dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) +

    dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F)

    + dx_hand_model_B.tmp_tmp_pw * dx_hand_model_B.sf_MATLABFunction3_b.z *

    4368.0F) + dx_hand_model_B.tmp_tmp_pi *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) +

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    4368.0F) + dx_hand_model_B.t20_c * dx_hand_model_B.sf_MATLABFunction3_b.z *

    4368.0F) - dx_hand_model_B.t1255 * 5.456896E+6F) - dx_hand_model_B.t1312 *

    5.456896E+6F) - dx_hand_model_B.xD1_tmp_o * 5.456896E+6F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * 5.456896E+6F) -

    dx_hand_model_B.xD1_tmp_tmp_k * 5.456896E+6F) -

    dx_hand_model_B.xD1_tmp_tmp_i * 5.456896E+6F) - dx_hand_model_B.t12_o *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) - dx_hand_model_B.t11_e *

    dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t12_o *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) - dx_hand_model_B.t11_e *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) -

    dx_hand_model_B.tmp_tmp_cqr * dx_hand_model_B.sf_MATLABFunction2_g.z *

    5408.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) -

    dx_hand_model_B.tmp_tmp_jc * dx_hand_model_B.sf_MATLABFunction3_b.z *

    3224.0F) - dx_hand_model_B.tmp_tmp_gd *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -

    dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)

    - dx_hand_model_B.tmp_tmp_ft * dx_hand_model_B.sf_MATLABFunction3_b.z *

    3224.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h * 1223.0F) -

    dx_hand_model_B.t1212 * dx_hand_model_B.t7 * 1223.0F) -

    dx_hand_model_B.t1250 * dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x * 882.0F) - dx_hand_model_B.t1248 *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t1261 *

    dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 882.0F) - dx_hand_model_B.t1252 *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x * 5408.0F) - dx_hand_model_B.t750 *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) - dx_hand_model_B.t1226 *

    dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 5408.0F) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.sf_MATLABFunction3_b.x * 4368.0F) - dx_hand_model_B.t752 *

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x * 882.0F) - dx_hand_model_B.t1251 *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t27_m *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t28_h *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) -

    dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.x * 5408.0F) - dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.x * 1040.0F) - dx_hand_model_B.t1309 *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) - dx_hand_model_B.t14_a *

    dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) -

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.sf_MATLABFunction3_b.y *

    4368.0F) - dx_hand_model_B.t752 * dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_my * dx_hand_model_B.sf_MATLABFunction2_g.z

    * 4368.0F) - dx_hand_model_B.t1251 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) -

    dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.sf_MATLABFunction1_h.y *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) - dx_hand_model_B.t1212 *

    dx_hand_model_B.sf_MATLABFunction3_b.y *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 1040.0F) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.sf_MATLABFunction1_h.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -

    dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.sf_MATLABFunction2_g.z *

    4368.0F) - dx_hand_model_B.tmp_tmp_dn *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 4368.0F) - dx_hand_model_B.t1261 *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F) - dx_hand_model_B.t750 *

    dx_hand_model_B.sf_MATLABFunction1_h.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -

    dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.sf_MATLABFunction2_g.z *

    4368.0F) - dx_hand_model_B.xD1_tmp_i * 1.0913792E+7F) -

    dx_hand_model_B.xD1_tmp_tmp_m * 1.0913792E+7F) - dx_hand_model_B.xD1_tmp_f *

    1.0913792E+7F) - dx_hand_model_B.xD1_tmp_tmp_o * 1.0913792E+7F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_a * 1.0913792E+7F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_k * 1.0913792E+7F) -

    dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.sf_MATLABFunction3_b.z *

    5408.0F) - dx_hand_model_B.t754 * dx_hand_model_B.sf_MATLABFunction3_b.z *

    882.0F) - dx_hand_model_B.t755 * dx_hand_model_B.sf_MATLABFunction2_g.z *

    882.0F) - dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.sf_MATLABFunction3_b.z * 3486.0F) - dx_hand_model_B.t15_g *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) -

    dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.sf_MATLABFunction3_b.z * 5408.0F)

    - dx_hand_model_B.t761_re * dx_hand_model_B.sf_MATLABFunction3_b.z * 882.0F)

    - dx_hand_model_B.t757_re * dx_hand_model_B.sf_MATLABFunction2_g.z * 882.0F)

    - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.sf_MATLABFunction3_b.z *

    3486.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction3_b.z *

    dx_hand_model_B.sf_MATLABFunction2_g.z * 5408.0F) - dx_hand_model_B.t760_re *

    dx_hand_model_B.sf_MATLABFunction3_b.y * 882.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) - dx_hand_model_B.t759_re *

                       dx_hand_model_B.sf_MATLABFunction3_b.y * 5408.0F) -

                      dx_hand_model_B.t762_re *

                      dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -

                     dx_hand_model_B.t1254 *

                     dx_hand_model_B.sf_MATLABFunction3_b.y *

                     dx_hand_model_B.sf_MATLABFunction2_g.y * 882.0F) -

                    dx_hand_model_B.t15_g *

                    dx_hand_model_B.sf_MATLABFunction3_b.y *

                    dx_hand_model_B.sf_MATLABFunction2_g.y * 5408.0F) -

                   dx_hand_model_B.tmp_tmp_dy *

                   dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

                  dx_hand_model_B.tmp_tmp_f2 *

                  dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

                 dx_hand_model_B.tmp_tmp_bs *

                 dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

                dx_hand_model_B.tmp_tmp_al *

                dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

               dx_hand_model_B.tmp_tmp_hc *

               dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

              dx_hand_model_B.tmp_tmp_jkf *

              dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

             dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.sf_MATLABFunction3_b.z

             * 4368.0F) - dx_hand_model_B.tmp_tmp_pm *

            dx_hand_model_B.sf_MATLABFunction2_g.z * 1040.0F) -

           dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.sf_MATLABFunction2_g.z *

           3486.0F) - dx_hand_model_B.tmp_tmp_kuk *

          dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

         dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.sf_MATLABFunction2_g.z *

         1040.0F) - dx_hand_model_B.tmp_tmp_mi *

        dx_hand_model_B.sf_MATLABFunction2_g.z * 3486.0F) -

       dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.sf_MATLABFunction3_b.z *

       4368.0F) - dx_hand_model_B.tmp_tmp_hz *

      dx_hand_model_B.sf_MATLABFunction3_b.z * 4368.0F) -

     dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.sf_MATLABFunction3_b.z *

     4368.0F) * (1.0F / dx_hand_model_B.t16_e);

  dx_hand_model_B.t476.im = 0.0F;

  dx_hand_model_sqrt_e(&dx_hand_model_B.t476);

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.sf_MATLABFunction1_h.z

    * 0.287671238F + dx_hand_model_B.sf_MATLABFunction3_b.z * 0.712328792F;

  dx_hand_model_B.t756.re = dx_hand_model_B.DataTypeConversion5_n +

    dx_hand_model_B.t476.re;

  dx_hand_model_B.t7 = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction1_h.y;

  dx_hand_model_B.t12_o = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t3 = dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t1212 = dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.sf_MATLABFunction2_g.x *

    dx_hand_model_B.sf_MATLABFunction1_h.z;

  dx_hand_model_B.t1313 =

    (((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j * 52.0F

    + dx_hand_model_B.Sum_nf * dx_hand_model_B.sf_MATLABFunction2_g.x * 21.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f * 52.0F) +

                       dx_hand_model_B.t4_o *

                       dx_hand_model_B.sf_MATLABFunction2_g.x * 21.0F) +

                      dx_hand_model_B.t7 *

                      dx_hand_model_B.sf_MATLABFunction3_b.y * 21.0F) +

                     dx_hand_model_B.t749 *

                     dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) +

                    dx_hand_model_B.t32_p *

                    dx_hand_model_B.sf_MATLABFunction3_b.y * 31.0F) +

                   dx_hand_model_B.sf_MATLABFunction3_b.x *

                   dx_hand_model_B.sf_MATLABFunction3_b.y *

                   dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F) +

                  dx_hand_model_B.t12_o * dx_hand_model_B.sf_MATLABFunction3_b.z

                  * 21.0F) + dx_hand_model_B.t3 *

                 dx_hand_model_B.sf_MATLABFunction2_g.z * 21.0F) +

                dx_hand_model_B.xD1_tmp_tmp *

                dx_hand_model_B.sf_MATLABFunction3_b.z * 31.0F) +

               dx_hand_model_B.sf_MATLABFunction3_b.x *

               dx_hand_model_B.sf_MATLABFunction3_b.z *

               dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) -

              dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m * 21.0F) -

             dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a * 21.0F) -

            dx_hand_model_B.t1313 * dx_hand_model_B.sf_MATLABFunction2_g.x *

            52.0F) - dx_hand_model_B.t9_l *

           dx_hand_model_B.sf_MATLABFunction2_g.x * 52.0F) - dx_hand_model_B.t7 *

          dx_hand_model_B.sf_MATLABFunction2_g.y * 21.0F) - dx_hand_model_B.t749

         * dx_hand_model_B.sf_MATLABFunction3_b.y * 52.0F) -

        dx_hand_model_B.t19_e * dx_hand_model_B.sf_MATLABFunction2_g.y * 52.0F)

       - dx_hand_model_B.t12_o * dx_hand_model_B.sf_MATLABFunction2_g.z * 21.0F)

      - dx_hand_model_B.t3 * dx_hand_model_B.sf_MATLABFunction3_b.z * 52.0F) -

     dx_hand_model_B.t1212 * dx_hand_model_B.sf_MATLABFunction2_g.z * 52.0F) *

    dx_hand_model_B.t25_h * 0.01369863F;

  dx_hand_model_B.t476.re = dx_hand_model_B.DataTypeConversion5_n -

    dx_hand_model_B.t476.re;

  dx_hand_model_B.DataTypeConversion5_n = ((((dx_hand_model_B.t1212 +

    dx_hand_model_B.xD1_tmp_tmp) + dx_hand_model_B.sf_MATLABFunction3_b.x *

    dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.t3) -

    dx_hand_model_B.sf_MATLABFunction1_h.x *

    dx_hand_model_B.sf_MATLABFunction2_g.z) -

    dx_hand_model_B.sf_MATLABFunction2_g.x *

    dx_hand_model_B.sf_MATLABFunction3_b.z;

  dx_hand_model_B.Sum_nf = dx_hand_model_B.t1313 - dx_hand_model_B.t25_h *

    dx_hand_model_B.t756.re * dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t1313 -= dx_hand_model_B.t25_h * dx_hand_model_B.t476.re *

    dx_hand_model_B.DataTypeConversion5_n;



  /* MATLAB Function: '<S242>/MATLAB Function9' incorporates:

   *  ComplexToRealImag: '<S242>/Complex to Real-Imag1'

   *  MATLAB Function: '<S242>/MATLAB Function'

   */

  if (dx_hand_model_B.t756.re < dx_hand_model_B.t476.re) {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t25_h *

      dx_hand_model_B.t13_b * -0.01369863F + dx_hand_model_B.t25_h *

      (((((dx_hand_model_B.tmp_tmp_cm + dx_hand_model_B.tmp_tmp_fz) +

          dx_hand_model_B.sf_MATLABFunction3_b.y *

          dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.tmp_tmp_kq)

        - dx_hand_model_B.sf_MATLABFunction1_h.y *

        dx_hand_model_B.sf_MATLABFunction2_g.z) -

       dx_hand_model_B.sf_MATLABFunction2_g.y *

       dx_hand_model_B.sf_MATLABFunction3_b.z) * dx_hand_model_B.t756.re;

    dx_hand_model_B.t1313 = dx_hand_model_B.Sum_nf;

    dx_hand_model_B.Sum_nf = dx_hand_model_B.t756.re;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t25_h *

      dx_hand_model_B.t13_b * -0.01369863F + dx_hand_model_B.t25_h *

      (((((dx_hand_model_B.tmp_tmp_cm + dx_hand_model_B.tmp_tmp_fz) +

          dx_hand_model_B.sf_MATLABFunction3_b.y *

          dx_hand_model_B.sf_MATLABFunction2_g.z) - dx_hand_model_B.tmp_tmp_kq)

        - dx_hand_model_B.sf_MATLABFunction1_h.y *

        dx_hand_model_B.sf_MATLABFunction2_g.z) -

       dx_hand_model_B.sf_MATLABFunction2_g.y *

       dx_hand_model_B.sf_MATLABFunction3_b.z) * dx_hand_model_B.t476.re;

    dx_hand_model_B.Sum_nf = dx_hand_model_B.t476.re;

  }



  /* End of MATLAB Function: '<S242>/MATLAB Function9' */



  /* ComplexToRealImag: '<S227>/Complex to Real-Imag9' */

  dx_hand_model_B.ComplextoRealImag1_d[0] =

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.ComplextoRealImag1_d[1] = dx_hand_model_B.t1313;

  dx_hand_model_B.ComplextoRealImag1_d[2] = dx_hand_model_B.Sum_nf;



  /* MATLAB Function: '<S233>/MATLAB Function1' */

  dx_hand_mod_MATLABFunction3(dx_hand_model_B.ComplextoRealImag1_d,

    &dx_hand_model_B.sf_MATLABFunction1_p);



  /* MATLAB Function: '<S233>/MATLAB Function2' */

  dx_hand_mod_MATLABFunction1(dx_hand_model_B.MCP,

    &dx_hand_model_B.sf_MATLABFunction2_f);



  /* MATLAB Function: '<S233>/Mother of Kinematics' incorporates:

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag1'

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag5'

   *  DataTypeConversion: '<S233>/Data Type Conversion1'

   *  DataTypeConversion: '<S233>/Data Type Conversion10'

   *  DataTypeConversion: '<S233>/Data Type Conversion11'

   *  DataTypeConversion: '<S233>/Data Type Conversion12'

   *  DataTypeConversion: '<S233>/Data Type Conversion13'

   *  DataTypeConversion: '<S233>/Data Type Conversion14'

   *  DataTypeConversion: '<S233>/Data Type Conversion15'

   *  DataTypeConversion: '<S233>/Data Type Conversion16'

   *  DataTypeConversion: '<S233>/Data Type Conversion17'

   *  DataTypeConversion: '<S233>/Data Type Conversion18'

   *  DataTypeConversion: '<S233>/Data Type Conversion19'

   *  DataTypeConversion: '<S233>/Data Type Conversion3'

   *  DataTypeConversion: '<S233>/Data Type Conversion4'

   *  DataTypeConversion: '<S233>/Data Type Conversion5'

   *  DataTypeConversion: '<S233>/Data Type Conversion7'

   *  DataTypeConversion: '<S233>/Data Type Conversion8'

   *  DataTypeConversion: '<S233>/Data Type Conversion9'

   *  DataTypeConversion: '<S283>/Data Type Conversion1'

   *  DataTypeConversion: '<S285>/Data Type Conversion1'

   *  MATLAB Function: '<S233>/APPROSSIMAZIONE'

   *  MATLAB Function: '<S233>/MATLAB Function'

   */

  dx_hand_model_B.Switch = sin((real_T)dx_hand_model_B.Sum1_h);

  dx_hand_model_B.t3_tmp = sin((real_T)(0.785398185F - (-dx_hand_model_B.Sum1_h)));

  dx_hand_model_B.t4 = cos((real_T)dx_hand_model_B.Sum_a);

  dx_hand_model_B.t5 = cos((real_T)dx_hand_model_B.Sum1_h);

  dx_hand_model_B.t6 = sin((real_T)dx_hand_model_B.Sum_a);

  dx_hand_model_B.t7_tmp = cos((real_T)(0.785398185F - (-dx_hand_model_B.Sum1_h)));

  dx_hand_model_B.t94 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t8 = dx_hand_model_B.t94 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t100 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t9 = dx_hand_model_B.t100 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t98 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y;

  dx_hand_model_B.t10 = dx_hand_model_B.t98 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t97 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t11 = dx_hand_model_B.t97 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t92 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y;

  dx_hand_model_B.t12 = dx_hand_model_B.t92 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t102 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t13 = dx_hand_model_B.t102 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t91 = (real_T)dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t14 = dx_hand_model_B.t91 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t101 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t15 = dx_hand_model_B.t101 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t96 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y;

  dx_hand_model_B.t16 = dx_hand_model_B.t96 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t95 = (real_T)dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t17 = dx_hand_model_B.t95 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t93 = (real_T)dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t18 = dx_hand_model_B.t93 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t99 = (real_T)dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t19 = dx_hand_model_B.t99 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t20_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.Switch;

  dx_hand_model_B.t105 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t20 = dx_hand_model_B.t105 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;

  dx_hand_model_B.t103 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t21 = dx_hand_model_B.t103 *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;

  dx_hand_model_B.t104 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t22 = dx_hand_model_B.t104 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;

  dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.t4 * dx_hand_model_B.t5;

  dx_hand_model_B.t111 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t23 = dx_hand_model_B.t111 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t109 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t24 = dx_hand_model_B.t109 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t110 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t25 = dx_hand_model_B.t110 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t26_tmp = dx_hand_model_B.t20_tmp * dx_hand_model_B.t4;

  dx_hand_model_B.t114 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t26 = dx_hand_model_B.t114 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.t5 * dx_hand_model_B.t6;

  dx_hand_model_B.t115 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t27 = dx_hand_model_B.t115 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t116 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t28 = dx_hand_model_B.t116 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t117 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t29 = dx_hand_model_B.t117 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t112 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t30 = dx_hand_model_B.t112 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t113 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t31 = dx_hand_model_B.t113 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t23_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.Switch;

  dx_hand_model_B.t26_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t58 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t32 = dx_hand_model_B.t58 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;

  dx_hand_model_B.t54 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t33 = dx_hand_model_B.t54 *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;

  dx_hand_model_B.t57 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t34 = dx_hand_model_B.t57 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;

  dx_hand_model_B.t20_tmp *= dx_hand_model_B.t6;

  dx_hand_model_B.t122 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t35 = dx_hand_model_B.t122 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t123 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t36 = dx_hand_model_B.t123 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t121 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t37 = dx_hand_model_B.t121 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t26_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.t4;

  dx_hand_model_B.t20_tmp = dx_hand_model_B.t26_tmp * dx_hand_model_B.t5 *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t68 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t38 = dx_hand_model_B.t68 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t66 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t39 = dx_hand_model_B.t66 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t67 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t40 = dx_hand_model_B.t67 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t41_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t4 *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t72 = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t41 = dx_hand_model_B.t72 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t42_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.t5;

  dx_hand_model_B.t42_tmp = dx_hand_model_B.t42_tmp_tmp * dx_hand_model_B.t6 *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t73 = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t42 = dx_hand_model_B.t73 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t76 = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t43 = dx_hand_model_B.t76 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t77 = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t44 = dx_hand_model_B.t77 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t70 = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t45 = dx_hand_model_B.t70 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t71 = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t46 = dx_hand_model_B.t71 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t47_tmp = dx_hand_model_B.t23_tmp * dx_hand_model_B.t6 *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t81 = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t47 = dx_hand_model_B.t81 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t86 = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t48 = dx_hand_model_B.t86 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t80 = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t49 = dx_hand_model_B.t80 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t50_tmp_b = dx_hand_model_B.t50_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_p = dx_hand_model_B.t50_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_c = dx_hand_model_B.t42_tmp_tmp *

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t50_tmp_f = dx_hand_model_B.t50_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_g = dx_hand_model_B.t50_tmp_c *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_c *= dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_g1 = dx_hand_model_B.t26_tmp * dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t50_tmp_m = dx_hand_model_B.t50_tmp_g1 *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_n = dx_hand_model_B.t50_tmp_g1 *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_g1 *= dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_pp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t50_tmp_l = dx_hand_model_B.t50_tmp_pp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_j = dx_hand_model_B.t50_tmp_pp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t50_tmp_pp *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_d = dx_hand_model_B.t23_tmp * dx_hand_model_B.t3_tmp;

  dx_hand_model_B.t50_tmp_gu = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_ld = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_dh = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_dy = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_lx = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_o = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_tmp = (real32_T)dx_hand_model_B.RateTransition_kl *

    dx_hand_model_B.t3_tmp;

  dx_hand_model_B.t50_tmp_tmp_n = dx_hand_model_B.t50_tmp_tmp *

    dx_hand_model_B.t4;

  dx_hand_model_B.t50_tmp_bj = dx_hand_model_B.t50_tmp_tmp_n *

    dx_hand_model_B.t5;

  dx_hand_model_B.t50_tmp_nu = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_bs = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_ln = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t26_tmp = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t23_tmp = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t20_tmp = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t42_tmp_tmp = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t41_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t42_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_h = dx_hand_model_B.t50_tmp_d * dx_hand_model_B.t4;

  dx_hand_model_B.t50_tmp_tmp_o = dx_hand_model_B.t50_tmp_tmp *

    dx_hand_model_B.t5;

  dx_hand_model_B.t50_tmp_bn = dx_hand_model_B.t50_tmp_tmp_o *

    dx_hand_model_B.t6;

  dx_hand_model_B.t50_tmp_da = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_e = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_bjv = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t50_tmp_jz = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_fd = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_a = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t50_tmp_ju = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_jz5 = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_o4 = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t50_tmp_d *= dx_hand_model_B.t6;

  dx_hand_model_B.t50_tmp_ny = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_i = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t47_tmp = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t240 = dx_hand_model_B.t50_tmp_p *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t241 = dx_hand_model_B.t50_tmp_b *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t242 = dx_hand_model_B.t50_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t243 = dx_hand_model_B.t50_tmp_f *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t244 = dx_hand_model_B.t50_tmp_c *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t245 = dx_hand_model_B.t50_tmp_g *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t246 = dx_hand_model_B.t50_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t247 = dx_hand_model_B.t50_tmp_m *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t248 = dx_hand_model_B.t50_tmp_g1 *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t249 = dx_hand_model_B.t50_tmp_j *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t250 = dx_hand_model_B.t50_tmp_l *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t251 = dx_hand_model_B.t50_tmp_pp *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t252 = dx_hand_model_B.t50_tmp_ld *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t253 = dx_hand_model_B.t50_tmp_gu *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t254 = dx_hand_model_B.t50_tmp_dh *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t255 = dx_hand_model_B.t50_tmp_lx *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t256 = dx_hand_model_B.t50_tmp_dy *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t257 = dx_hand_model_B.t50_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t258 = dx_hand_model_B.t26_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t259 = dx_hand_model_B.t23_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t260 = dx_hand_model_B.t20_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t261 = dx_hand_model_B.t50_tmp_nu *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t262 = dx_hand_model_B.t50_tmp_bs *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t263 = dx_hand_model_B.t50_tmp_ln *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t264 = dx_hand_model_B.t42_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t265 = dx_hand_model_B.t41_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t266 = dx_hand_model_B.t42_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t267 = dx_hand_model_B.t50_tmp_da *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t268 = dx_hand_model_B.t50_tmp_e *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t269 = dx_hand_model_B.t50_tmp_bjv *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t270 = dx_hand_model_B.t50_tmp_ju *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t271 = dx_hand_model_B.t50_tmp_jz5 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t272 = dx_hand_model_B.t50_tmp_o4 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t273 = dx_hand_model_B.t50_tmp_jz *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t274 = dx_hand_model_B.t50_tmp_fd *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t275 = dx_hand_model_B.t50_tmp_a *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t276 = dx_hand_model_B.t50_tmp_ny *

    dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t277 = dx_hand_model_B.t47_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t278 = dx_hand_model_B.t50_tmp_i *

    dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_b *= dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t50_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_p *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_gu *= dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t50_tmp_g *= dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_dh *= dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.t50_tmp_ld *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_f *= dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_c *= dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.t50_tmp_m *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_g1 *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_n *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_l *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_pp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_j *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_jz *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_fd *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_a *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_dy *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_da *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_ju *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_e *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_bjv *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_jz5 *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_o4 *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_o *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_lx *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50_tmp_i *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t50_tmp_nu *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_bs *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_ln *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t50_tmp_ny *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t47_tmp *= dx_hand_model_B.sf_MATLABFunction1_p.z;

  dx_hand_model_B.t42_tmp_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t41_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t26_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t23_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t42_tmp *= dx_hand_model_B.sf_MATLABFunction3_bs.z;

  dx_hand_model_B.t20_tmp *= dx_hand_model_B.sf_MATLABFunction2_f.z;

  dx_hand_model_B.t50 =

    ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t50_tmp_b

    * 1.8150964665736191E+63 - dx_hand_model_B.t240 * 1.8150964665736191E+63) -

    dx_hand_model_B.t241 * 1.8150964665736191E+63) + dx_hand_model_B.t50_tmp *

    1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_p * 1.8150964665736191E+63)

    - dx_hand_model_B.t242 * 1.8150964665736191E+63) - dx_hand_model_B.t243 *

    1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_g * 1.8150964665736191E+63)

    + dx_hand_model_B.t50_tmp_f * 1.8150964665736191E+63) - dx_hand_model_B.t244

    * 1.8150964665736191E+63) - dx_hand_model_B.t245 * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_c * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_m * 2.9642774844752953E+79) - dx_hand_model_B.t246 *

    2.9642774844752953E+79) - dx_hand_model_B.t247 * 2.9642774844752953E+79) +

    dx_hand_model_B.t50_tmp_g1 * 2.9642774844752953E+79) +

    dx_hand_model_B.t50_tmp_n * 2.9642774844752953E+79) - dx_hand_model_B.t248 *

    2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_l * 2.9642774844752953E+79)

    - dx_hand_model_B.t249 * 2.9642774844752953E+79) - dx_hand_model_B.t250 *

    2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_pp *

    2.9642774844752953E+79) + dx_hand_model_B.t50_tmp_j * 2.9642774844752953E+79)

    - dx_hand_model_B.t251 * 2.9642774844752953E+79) +

    dx_hand_model_B.t50_tmp_gu * 1.8150964665736191E+63) - dx_hand_model_B.t252 *

    1.8150964665736191E+63) - dx_hand_model_B.t253 * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_dh * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_ld * 1.8150964665736191E+63) - dx_hand_model_B.t254 *

    1.8150964665736191E+63) + dx_hand_model_B.t50_tmp_dy *

    1.1114260389665261E+47) - dx_hand_model_B.t255 * 1.1114260389665261E+47) -

    dx_hand_model_B.t256 * 1.1114260389665261E+47) + dx_hand_model_B.t50_tmp_o *

    1.1114260389665261E+47) + dx_hand_model_B.t50_tmp_lx *

    1.1114260389665261E+47) - dx_hand_model_B.t257 * 1.1114260389665261E+47) +

    dx_hand_model_B.t50_tmp_nu * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_bs * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_ln * 1.1114260389665261E+47) - dx_hand_model_B.t258 *

    1.8150964665736191E+63) - dx_hand_model_B.t259 * 1.8150964665736191E+63) -

    dx_hand_model_B.t260 * 1.1114260389665261E+47) - dx_hand_model_B.t261 *

    1.8150964665736191E+63) - dx_hand_model_B.t262 * 1.8150964665736191E+63) -

    dx_hand_model_B.t263 * 1.1114260389665261E+47) + dx_hand_model_B.t42_tmp_tmp

    * 1.8150964665736191E+63) + dx_hand_model_B.t41_tmp * 1.8150964665736191E+63)

    + dx_hand_model_B.t42_tmp * 1.1114260389665261E+47) +

    dx_hand_model_B.t26_tmp * 1.8150964665736191E+63) + dx_hand_model_B.t23_tmp *

    1.8150964665736191E+63) + dx_hand_model_B.t20_tmp * 1.1114260389665261E+47)

    - dx_hand_model_B.t264 * 1.8150964665736191E+63) - dx_hand_model_B.t265 *

    1.8150964665736191E+63) - dx_hand_model_B.t266 * 1.1114260389665261E+47) -

    dx_hand_model_B.t267 * 1.1114260389665271E+47) - dx_hand_model_B.t268 *

    1.8150964665736191E+63) - dx_hand_model_B.t269 * 1.8150964665736191E+63) +

    dx_hand_model_B.t50_tmp_jz * 1.1114260389665271E+47) +

                       dx_hand_model_B.t50_tmp_fd * 1.8150964665736191E+63) +

                      dx_hand_model_B.t50_tmp_a * 1.8150964665736191E+63) +

                     dx_hand_model_B.t50_tmp_da * 1.1114260389665271E+47) +

                    dx_hand_model_B.t50_tmp_e * 1.8150964665736191E+63) +

                   dx_hand_model_B.t50_tmp_bjv * 1.8150964665736191E+63) -

                  dx_hand_model_B.t270 * 1.1114260389665271E+47) -

                 dx_hand_model_B.t271 * 1.8150964665736191E+63) -

                dx_hand_model_B.t272 * 1.8150964665736191E+63) -

               dx_hand_model_B.t273 * 1.1114260389665271E+47) -

              dx_hand_model_B.t274 * 1.8150964665736191E+63) -

             dx_hand_model_B.t275 * 1.8150964665736191E+63) +

            dx_hand_model_B.t50_tmp_ju * 1.1114260389665271E+47) +

           dx_hand_model_B.t50_tmp_jz5 * 1.8150964665736191E+63) +

          dx_hand_model_B.t50_tmp_o4 * 1.8150964665736191E+63) -

         dx_hand_model_B.t276 * 1.1114260389665271E+47) +

        dx_hand_model_B.t50_tmp_i * 1.1114260389665271E+47) +

       dx_hand_model_B.t50_tmp_ny * 1.1114260389665271E+47) -

      dx_hand_model_B.t277 * 1.1114260389665271E+47) - dx_hand_model_B.t278 *

     1.1114260389665271E+47) + dx_hand_model_B.t47_tmp * 1.1114260389665271E+47;

  dx_hand_model_B.t54 = dx_hand_model_B.t54 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;

  dx_hand_model_B.t57 = dx_hand_model_B.t57 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;

  dx_hand_model_B.t58 = dx_hand_model_B.t58 *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;

  dx_hand_model_B.t66 = dx_hand_model_B.t66 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t67 = dx_hand_model_B.t67 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t68 = dx_hand_model_B.t68 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t70 = dx_hand_model_B.t70 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t71 = dx_hand_model_B.t71 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t72 = dx_hand_model_B.t72 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t73 = dx_hand_model_B.t73 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t76 = dx_hand_model_B.t76 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t77 = dx_hand_model_B.t77 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t80 = dx_hand_model_B.t80 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t81 = dx_hand_model_B.t81 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t86 = dx_hand_model_B.t86 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t91 = dx_hand_model_B.t91 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t92 = dx_hand_model_B.t92 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t93 = dx_hand_model_B.t93 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t94 = dx_hand_model_B.t94 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t95 = dx_hand_model_B.t95 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t96 = dx_hand_model_B.t96 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t97 = dx_hand_model_B.t97 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t98 = dx_hand_model_B.t98 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t99 = dx_hand_model_B.t99 *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79;

  dx_hand_model_B.t100 = dx_hand_model_B.t100 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t101 = dx_hand_model_B.t101 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t102 = dx_hand_model_B.t102 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t103 = dx_hand_model_B.t103 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;

  dx_hand_model_B.t104 = dx_hand_model_B.t104 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;

  dx_hand_model_B.t105 = dx_hand_model_B.t105 *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;

  dx_hand_model_B.t109 = dx_hand_model_B.t109 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t110 = dx_hand_model_B.t110 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t111 = dx_hand_model_B.t111 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t112 = dx_hand_model_B.t112 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t113 = dx_hand_model_B.t113 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.t114 = dx_hand_model_B.t114 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t115 = dx_hand_model_B.t115 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t116 = dx_hand_model_B.t116 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t117 = dx_hand_model_B.t117 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t121 = dx_hand_model_B.t121 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t122 = dx_hand_model_B.t122 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t123 = dx_hand_model_B.t123 *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t90 = dx_hand_model_B.t50_tmp_tmp * dx_hand_model_B.t6;

  dx_hand_model_B.t106 = dx_hand_model_B.t50_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.t107 = dx_hand_model_B.t50_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.t108 = dx_hand_model_B.t50_tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.t279 = dx_hand_model_B.t50_tmp_tmp_o *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.tmp_tmp = dx_hand_model_B.t50_tmp_tmp_o *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.tmp_tmp_m = dx_hand_model_B.t50_tmp_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.tmp_tmp_c = dx_hand_model_B.t50_tmp_tmp_n *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.tmp_tmp_md = dx_hand_model_B.t50_tmp_tmp_n *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.tmp_tmp_m3 = dx_hand_model_B.t50_tmp_tmp_n *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.tmp_tmp_j = dx_hand_model_B.t90 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.tmp_tmp_h = dx_hand_model_B.t90 *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t90 *= dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.tmp_tmp_c0 = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.tmp_tmp_ct = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.tmp_tmp_p = dx_hand_model_B.t50_tmp_bj *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.tmp_tmp_p5 = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.tmp_tmp_a = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.tmp_tmp_e = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.tmp_tmp_ax = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.tmp_tmp_as = dx_hand_model_B.t50_tmp_h *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.tmp_tmp_i = dx_hand_model_B.t50_tmp_bn *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.tmp_tmp_l = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction3_bs.x;

  dx_hand_model_B.tmp_tmp_o = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction2_f.x;

  dx_hand_model_B.tmp_tmp_o2 = dx_hand_model_B.t50_tmp_d *

    dx_hand_model_B.sf_MATLABFunction1_p.x;

  dx_hand_model_B.tmp_tmp_ip = dx_hand_model_B.t106 *

    dx_hand_model_B.sf_MATLABFunction1_p.y;

  dx_hand_model_B.tmp_tmp_f = dx_hand_model_B.t107 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y;

  dx_hand_model_B.tmp_tmp_iz = dx_hand_model_B.t108 *

    dx_hand_model_B.sf_MATLABFunction2_f.y;

  dx_hand_model_B.t50_tmp_d = dx_hand_model_B.tmp_tmp_m *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_bn = dx_hand_model_B.t279 *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_h = dx_hand_model_B.tmp_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_bj = dx_hand_model_B.tmp_tmp_ct *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_tmp_n = dx_hand_model_B.tmp_tmp_p *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_tmp_o = dx_hand_model_B.tmp_tmp_c0 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_tmp = dx_hand_model_B.tmp_tmp_e *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.tmp_tmp_ff = dx_hand_model_B.tmp_tmp_ax *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62;

  dx_hand_model_B.tmp_tmp_g = dx_hand_model_B.tmp_tmp_as *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.tmp_tmp_co = dx_hand_model_B.tmp_tmp_i *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62;

  dx_hand_model_B.tmp_tmp_o3 = dx_hand_model_B.tmp_tmp_p5 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.tmp_tmp_lm = dx_hand_model_B.tmp_tmp_a *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62;

  dx_hand_model_B.tmp_tmp_mv = dx_hand_model_B.tmp_tmp_o2 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79;

  dx_hand_model_B.tmp_tmp_mj = dx_hand_model_B.tmp_tmp_l *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.tmp_tmp_cn = dx_hand_model_B.tmp_tmp_o *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79;

  dx_hand_model_B.t90 =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +

    dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +

    dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +

    dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +

    dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +

    dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +

    dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +

    dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +

    dx_hand_model_B.t30) + dx_hand_model_B.t31) - dx_hand_model_B.t32) -

    dx_hand_model_B.t33) - dx_hand_model_B.t34) + dx_hand_model_B.t35) +

    dx_hand_model_B.t36) + dx_hand_model_B.t37) - dx_hand_model_B.t38) -

    dx_hand_model_B.t39) - dx_hand_model_B.t40) - dx_hand_model_B.t41) -

    dx_hand_model_B.t42) - dx_hand_model_B.t43) - dx_hand_model_B.t44) -

    dx_hand_model_B.t45) - dx_hand_model_B.t46) - dx_hand_model_B.t47) -

    dx_hand_model_B.t48) - dx_hand_model_B.t49) + dx_hand_model_B.t108 *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.1114260389665261E+47) +

    dx_hand_model_B.t106 * dx_hand_model_B.sf_MATLABFunction2_f.y *

    1.1114260389665261E+47) + dx_hand_model_B.t107 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.1114260389665261E+47) +

    dx_hand_model_B.t54) + dx_hand_model_B.t50_tmp_d) +

    dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t57) + dx_hand_model_B.t58) +

    dx_hand_model_B.t50_tmp_h) + dx_hand_model_B.tmp_tmp_m3 *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.8150964665736191E+63) +

    dx_hand_model_B.tmp_tmp_c * dx_hand_model_B.sf_MATLABFunction2_f.z *

    1.8150964665736191E+63) + dx_hand_model_B.tmp_tmp_md *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.8150964665736191E+63) +

    dx_hand_model_B.t90 * dx_hand_model_B.sf_MATLABFunction3_bs.z *

    1.8150964665736191E+63) + dx_hand_model_B.tmp_tmp_j *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.8150964665736191E+63) +

    dx_hand_model_B.tmp_tmp_h * dx_hand_model_B.sf_MATLABFunction1_p.z *

    1.8150964665736191E+63) + dx_hand_model_B.t66) + dx_hand_model_B.t67) +

    dx_hand_model_B.t68) + dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t70) +

    dx_hand_model_B.t71) + dx_hand_model_B.t72) + dx_hand_model_B.t73) +

    dx_hand_model_B.t50_tmp_tmp_n) + dx_hand_model_B.t50_tmp_tmp_o) +

    dx_hand_model_B.t76) + dx_hand_model_B.t77) + dx_hand_model_B.t50_tmp_tmp) +

    dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.t80) + dx_hand_model_B.t81) +

    dx_hand_model_B.tmp_tmp_g) + dx_hand_model_B.tmp_tmp_co) +

    dx_hand_model_B.tmp_tmp_o3) + dx_hand_model_B.tmp_tmp_lm) +

    dx_hand_model_B.t86) + dx_hand_model_B.tmp_tmp_mv) +

    dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) -

    dx_hand_model_B.t91) - dx_hand_model_B.t92) - dx_hand_model_B.t93) -

    dx_hand_model_B.t94) - dx_hand_model_B.t95) - dx_hand_model_B.t96) -

    dx_hand_model_B.t97) - dx_hand_model_B.t98) - dx_hand_model_B.t99) -

    dx_hand_model_B.t100) - dx_hand_model_B.t101) - dx_hand_model_B.t102) -

    dx_hand_model_B.t103) - dx_hand_model_B.t104) - dx_hand_model_B.t105) -

    dx_hand_model_B.t109) - dx_hand_model_B.t110) - dx_hand_model_B.t111) -

    dx_hand_model_B.t112) - dx_hand_model_B.t113) - dx_hand_model_B.t114) -

    dx_hand_model_B.t115) - dx_hand_model_B.t116) - dx_hand_model_B.t117) -

    dx_hand_model_B.t121) - dx_hand_model_B.t122) - dx_hand_model_B.t123) -

    dx_hand_model_B.tmp_tmp_ip * 1.1114260389665261E+47) -

    dx_hand_model_B.tmp_tmp_f * 1.1114260389665261E+47) -

    dx_hand_model_B.tmp_tmp_iz * 1.1114260389665261E+47) - dx_hand_model_B.t279 *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) -

                       dx_hand_model_B.tmp_tmp *

                       dx_hand_model_B.sf_MATLABFunction3_bs.y *

                       1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_m *

                      dx_hand_model_B.sf_MATLABFunction2_f.y *

                      1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_c *

                     dx_hand_model_B.sf_MATLABFunction1_p.z *

                     1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_md *

                    dx_hand_model_B.sf_MATLABFunction3_bs.z *

                    1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_m3 *

                   dx_hand_model_B.sf_MATLABFunction2_f.z *

                   1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_j *

                  dx_hand_model_B.sf_MATLABFunction1_p.z *

                  1.8150964665736191E+63) - dx_hand_model_B.tmp_tmp_h *

                 dx_hand_model_B.sf_MATLABFunction3_bs.z *

                 1.8150964665736191E+63) - dx_hand_model_B.t90 *

                dx_hand_model_B.sf_MATLABFunction2_f.z * 1.8150964665736191E+63)

               - dx_hand_model_B.tmp_tmp_c0 *

               dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)

              - dx_hand_model_B.tmp_tmp_ct *

              dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -

             dx_hand_model_B.tmp_tmp_p * dx_hand_model_B.sf_MATLABFunction1_p.z *

             9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_p5 *

            dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -

           dx_hand_model_B.tmp_tmp_a * dx_hand_model_B.sf_MATLABFunction3_bs.z *

           9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_e *

          dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -

         dx_hand_model_B.tmp_tmp_ax * dx_hand_model_B.sf_MATLABFunction2_f.z *

         9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_as *

        dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -

       dx_hand_model_B.tmp_tmp_i * dx_hand_model_B.sf_MATLABFunction1_p.z *

       9.0754823328680938E+62) - dx_hand_model_B.tmp_tmp_l *

      dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -

     dx_hand_model_B.tmp_tmp_o * dx_hand_model_B.sf_MATLABFunction3_bs.z *

     1.482138742237647E+79) - dx_hand_model_B.tmp_tmp_o2 *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79;

  dx_hand_model_B.t106 = dx_hand_model_B.tmp_tmp_ip * 2.229194389367849E+30;

  dx_hand_model_B.t107 = dx_hand_model_B.tmp_tmp_f * 2.229194389367849E+30;

  dx_hand_model_B.t108 = dx_hand_model_B.tmp_tmp_iz * 2.229194389367849E+30;

  dx_hand_model_B.t50 = dx_hand_model_B.t50 * dx_hand_model_B.t50 * 0.25;

  dx_hand_model_B.t240 *= 9.0754823328680938E+62;

  dx_hand_model_B.t241 *= 9.0754823328680938E+62;

  dx_hand_model_B.t242 *= 9.0754823328680938E+62;

  dx_hand_model_B.t243 *= 9.0754823328680938E+62;

  dx_hand_model_B.t244 *= 9.0754823328680938E+62;

  dx_hand_model_B.t245 *= 9.0754823328680938E+62;

  dx_hand_model_B.t246 *= 1.482138742237647E+79;

  dx_hand_model_B.t247 *= 1.482138742237647E+79;

  dx_hand_model_B.t248 *= 1.482138742237647E+79;

  dx_hand_model_B.t249 *= 1.482138742237647E+79;

  dx_hand_model_B.t250 *= 1.482138742237647E+79;

  dx_hand_model_B.t251 *= 1.482138742237647E+79;

  dx_hand_model_B.t252 *= 9.0754823328680938E+62;

  dx_hand_model_B.t253 *= 9.0754823328680938E+62;

  dx_hand_model_B.t254 *= 9.0754823328680938E+62;

  dx_hand_model_B.t255 *= 5.5571301948326323E+46;

  dx_hand_model_B.t256 *= 5.5571301948326323E+46;

  dx_hand_model_B.t257 *= 5.5571301948326323E+46;

  dx_hand_model_B.t258 *= 9.0754823328680938E+62;

  dx_hand_model_B.t259 *= 9.0754823328680938E+62;

  dx_hand_model_B.t260 *= 5.5571301948326323E+46;

  dx_hand_model_B.t261 *= 9.0754823328680938E+62;

  dx_hand_model_B.t262 *= 9.0754823328680938E+62;

  dx_hand_model_B.t263 *= 5.5571301948326323E+46;

  dx_hand_model_B.t264 *= 9.0754823328680938E+62;

  dx_hand_model_B.t265 *= 9.0754823328680938E+62;

  dx_hand_model_B.t266 *= 5.5571301948326323E+46;

  dx_hand_model_B.t267 *= 5.5571301948326333E+46;

  dx_hand_model_B.t268 *= 9.0754823328680938E+62;

  dx_hand_model_B.t269 *= 9.0754823328680938E+62;

  dx_hand_model_B.t270 *= 5.5571301948326333E+46;

  dx_hand_model_B.t271 *= 9.0754823328680938E+62;

  dx_hand_model_B.t272 *= 9.0754823328680938E+62;

  dx_hand_model_B.t273 *= 5.5571301948326333E+46;

  dx_hand_model_B.t274 *= 9.0754823328680938E+62;

  dx_hand_model_B.t275 *= 9.0754823328680938E+62;

  dx_hand_model_B.t276 *= 5.5571301948326333E+46;

  dx_hand_model_B.t277 *= 5.5571301948326333E+46;

  dx_hand_model_B.t278 *= 5.5571301948326333E+46;

  dx_hand_model_B.t279 = 1.0 / dx_hand_model_B.t90;

  dx_hand_model_B.dc0 = dx_hand_model_my_sqrt(dx_hand_model_B.t50 -

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +

    dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +

    dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +

    dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +

    dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +

    dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +

    dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +

    dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +

    dx_hand_model_B.t30) + dx_hand_model_B.t31) + dx_hand_model_B.t32) +

    dx_hand_model_B.t33) + dx_hand_model_B.t34) + dx_hand_model_B.t35) +

    dx_hand_model_B.t36) + dx_hand_model_B.t37) + dx_hand_model_B.t38) +

    dx_hand_model_B.t39) + dx_hand_model_B.t40) + dx_hand_model_B.t41) +

    dx_hand_model_B.t42) + dx_hand_model_B.t43) + dx_hand_model_B.t44) +

    dx_hand_model_B.t45) + dx_hand_model_B.t46) + dx_hand_model_B.t47) +

    dx_hand_model_B.t48) + dx_hand_model_B.t49) + dx_hand_model_B.t106) +

    dx_hand_model_B.t107) + dx_hand_model_B.t108) + dx_hand_model_B.t50_tmp_d) +

    dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t50_tmp_h) +

    dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t50_tmp_tmp_n) +

    dx_hand_model_B.t50_tmp_tmp_o) + dx_hand_model_B.t50_tmp_tmp) +

    dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.tmp_tmp_g) +

    dx_hand_model_B.tmp_tmp_co) + dx_hand_model_B.tmp_tmp_o3) +

    dx_hand_model_B.tmp_tmp_lm) + dx_hand_model_B.tmp_tmp_mv) +

    dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) - (real_T)

    dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction4_o.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction4_o.y *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y *

    dx_hand_model_B.sf_MATLABFunction4_o.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real_T)

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 2.229194389367849E+30) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 2.229194389367849E+30) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 2.229194389367849E+30) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -

    (real32_T)dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 *

    dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t4 * dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 * dx_hand_model_B.t6 *

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t5 * dx_hand_model_B.t6 *

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.y *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -

    (real32_T)dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 *

    dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.y *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction3_bs.y *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.Switch *

    dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction2_f.y *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 * dx_hand_model_B.t5 *

    dx_hand_model_B.sf_MATLABFunction2_f.y *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_nz * dx_hand_model_B.t4 * dx_hand_model_B.t5 *

    dx_hand_model_B.sf_MATLABFunction1_p.y *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *

    dx_hand_model_B.sf_MATLABFunction3_bs.x *

    dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

    dx_hand_model_B.t4 * dx_hand_model_B.t5 *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -

    (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -

    (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t5 *

    dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *

    dx_hand_model_B.sf_MATLABFunction2_f.x *

    dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) - (real32_T)

    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

    dx_hand_model_B.t3_tmp * dx_hand_model_B.t6 *

    dx_hand_model_B.sf_MATLABFunction1_p.x *

    dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) - (real32_T)

                      dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp

                      * dx_hand_model_B.t4 * dx_hand_model_B.t5 *

                      dx_hand_model_B.sf_MATLABFunction3_bs.x *

                      dx_hand_model_B.sf_MATLABFunction2_f.z *

                      9.0754823328680938E+62) - (real32_T)

                     dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

                     dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *

                     dx_hand_model_B.sf_MATLABFunction3_bs.x *

                     dx_hand_model_B.sf_MATLABFunction2_f.z *

                     9.0754823328680938E+62) - (real32_T)

                    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                    dx_hand_model_B.t4 * dx_hand_model_B.t5 *

                    dx_hand_model_B.sf_MATLABFunction2_f.x *

                    dx_hand_model_B.sf_MATLABFunction1_p.z *

                    9.0754823328680938E+62) - (real32_T)

                   dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

                   dx_hand_model_B.t4 * dx_hand_model_B.t7_tmp *

                   dx_hand_model_B.sf_MATLABFunction2_f.x *

                   dx_hand_model_B.sf_MATLABFunction1_p.z *

                   9.0754823328680938E+62) - (real32_T)

                  dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t5 *

                  dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *

                  dx_hand_model_B.sf_MATLABFunction3_bs.x *

                  dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79)

                 - (real32_T)dx_hand_model_B.RateTransition_kl *

                 dx_hand_model_B.t5 * dx_hand_model_B.t6 *

                 dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction2_f.x

                 * dx_hand_model_B.sf_MATLABFunction1_p.z *

                 1.482138742237647E+79) - (real32_T)

                dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

                dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

                dx_hand_model_B.sf_MATLABFunction1_p.y *

                dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79)

               - (real32_T)dx_hand_model_B.RateTransition_kl *

               dx_hand_model_B.t3_tmp * dx_hand_model_B.t5 * dx_hand_model_B.t6 *

               dx_hand_model_B.sf_MATLABFunction1_p.y *

               dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)

              - (real32_T)dx_hand_model_B.RateTransition_kl *

              dx_hand_model_B.Switch * dx_hand_model_B.t6 *

              dx_hand_model_B.t7_tmp * dx_hand_model_B.sf_MATLABFunction1_p.y *

              dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)

             - (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *

             dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *

             dx_hand_model_B.sf_MATLABFunction3_bs.y *

             dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -

            (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch

            * dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

            dx_hand_model_B.sf_MATLABFunction3_bs.y *

            dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -

           (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

           dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

           dx_hand_model_B.sf_MATLABFunction2_f.y *

           dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -

          (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

          dx_hand_model_B.t5 * dx_hand_model_B.t6 *

          dx_hand_model_B.sf_MATLABFunction3_bs.y *

          dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -

         (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

         dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *

         dx_hand_model_B.sf_MATLABFunction3_bs.y *

         dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -

        (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

        dx_hand_model_B.t5 * dx_hand_model_B.t6 *

        dx_hand_model_B.sf_MATLABFunction2_f.y *

        dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -

       (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

       dx_hand_model_B.t6 * dx_hand_model_B.t7_tmp *

       dx_hand_model_B.sf_MATLABFunction2_f.y *

       dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -

      (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *

      dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *

      dx_hand_model_B.sf_MATLABFunction2_f.y *

      dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -

     (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t4 *

     dx_hand_model_B.t5 * dx_hand_model_B.t7_tmp *

     dx_hand_model_B.sf_MATLABFunction1_p.y *

     dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) *

    dx_hand_model_B.t90);

  dx_hand_model_B.dc1 = dx_hand_model_my_sqrt(dx_hand_model_B.t50 -

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t8 +

    dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +

    dx_hand_model_B.t12) + dx_hand_model_B.t13) + dx_hand_model_B.t14) +

    dx_hand_model_B.t15) + dx_hand_model_B.t16) + dx_hand_model_B.t17) +

    dx_hand_model_B.t18) + dx_hand_model_B.t19) + dx_hand_model_B.t20) +

    dx_hand_model_B.t21) + dx_hand_model_B.t22) + dx_hand_model_B.t23) +

    dx_hand_model_B.t24) + dx_hand_model_B.t25) + dx_hand_model_B.t26) +

    dx_hand_model_B.t27) + dx_hand_model_B.t28) + dx_hand_model_B.t29) +

    dx_hand_model_B.t30) + dx_hand_model_B.t31) + dx_hand_model_B.t32) +

    dx_hand_model_B.t33) + dx_hand_model_B.t34) + dx_hand_model_B.t35) +

    dx_hand_model_B.t36) + dx_hand_model_B.t37) + dx_hand_model_B.t38) +

    dx_hand_model_B.t39) + dx_hand_model_B.t40) + dx_hand_model_B.t41) +

    dx_hand_model_B.t42) + dx_hand_model_B.t43) + dx_hand_model_B.t44) +

    dx_hand_model_B.t45) + dx_hand_model_B.t46) + dx_hand_model_B.t47) +

    dx_hand_model_B.t48) + dx_hand_model_B.t49) - dx_hand_model_B.t54) -

    dx_hand_model_B.t57) - dx_hand_model_B.t58) - dx_hand_model_B.t66) -

    dx_hand_model_B.t67) - dx_hand_model_B.t68) - dx_hand_model_B.t70) -

    dx_hand_model_B.t71) - dx_hand_model_B.t72) - dx_hand_model_B.t73) -

    dx_hand_model_B.t76) - dx_hand_model_B.t77) - dx_hand_model_B.t80) -

    dx_hand_model_B.t81) - dx_hand_model_B.t86) - dx_hand_model_B.t91) -

    dx_hand_model_B.t92) - dx_hand_model_B.t93) - dx_hand_model_B.t94) -

    dx_hand_model_B.t95) - dx_hand_model_B.t96) - dx_hand_model_B.t97) -

    dx_hand_model_B.t98) - dx_hand_model_B.t99) - dx_hand_model_B.t100) -

    dx_hand_model_B.t101) - dx_hand_model_B.t102) - dx_hand_model_B.t103) -

    dx_hand_model_B.t104) - dx_hand_model_B.t105) + dx_hand_model_B.t106) +

    dx_hand_model_B.t107) + dx_hand_model_B.t108) - dx_hand_model_B.t109) -

    dx_hand_model_B.t110) - dx_hand_model_B.t111) - dx_hand_model_B.t112) -

    dx_hand_model_B.t113) - dx_hand_model_B.t114) - dx_hand_model_B.t115) -

    dx_hand_model_B.t116) - dx_hand_model_B.t117) + dx_hand_model_B.t50_tmp_d) +

    dx_hand_model_B.t50_tmp_bn) + dx_hand_model_B.t50_tmp_h) -

    dx_hand_model_B.t121) - dx_hand_model_B.t122) - dx_hand_model_B.t123) +

    dx_hand_model_B.t50_tmp_bj) + dx_hand_model_B.t50_tmp_tmp_n) +

    dx_hand_model_B.t50_tmp_tmp_o) + dx_hand_model_B.t50_tmp_tmp) +

    dx_hand_model_B.tmp_tmp_ff) + dx_hand_model_B.tmp_tmp_g) +

    dx_hand_model_B.tmp_tmp_co) + dx_hand_model_B.tmp_tmp_o3) +

    dx_hand_model_B.tmp_tmp_lm) + dx_hand_model_B.tmp_tmp_mv) +

    dx_hand_model_B.tmp_tmp_mj) + dx_hand_model_B.tmp_tmp_cn) - (real32_T)

                      dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp

                      * dx_hand_model_B.sf_MATLABFunction1_p.x *

                      dx_hand_model_B.sf_MATLABFunction3_bs.y *

                      2.229194389367849E+30) - (real32_T)

                     dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                     dx_hand_model_B.sf_MATLABFunction3_bs.x *

                     dx_hand_model_B.sf_MATLABFunction2_f.y *

                     2.229194389367849E+30) - (real32_T)

                    dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                    dx_hand_model_B.sf_MATLABFunction2_f.x *

                    dx_hand_model_B.sf_MATLABFunction1_p.y *

                    2.229194389367849E+30) - (real32_T)

                   dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                   dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction3_bs.x *

                   dx_hand_model_B.sf_MATLABFunction1_p.y *

                   1.482138742237647E+79) - (real32_T)

                  dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                  dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction2_f.x *

                  dx_hand_model_B.sf_MATLABFunction3_bs.y *

                  1.482138742237647E+79) - (real32_T)

                 dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

                 dx_hand_model_B.t5 * dx_hand_model_B.sf_MATLABFunction1_p.x *

                 dx_hand_model_B.sf_MATLABFunction2_f.y * 1.482138742237647E+79)

                - (real32_T)dx_hand_model_B.RateTransition_kl *

                dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *

                dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction3_bs.x *

                dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79)

               - (real32_T)dx_hand_model_B.RateTransition_kl *

               dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 * dx_hand_model_B.t5 *

               dx_hand_model_B.sf_MATLABFunction1_p.x *

               dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62)

              - (real32_T)dx_hand_model_B.RateTransition_kl *

              dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *

              dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction2_f.x *

              dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -

             (real32_T)dx_hand_model_B.RateTransition_kl *

             dx_hand_model_B.Switch * dx_hand_model_B.t3_tmp *

             dx_hand_model_B.t6 * dx_hand_model_B.sf_MATLABFunction1_p.x *

             dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -

            (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp

            * dx_hand_model_B.t4 * dx_hand_model_B.t5 *

            dx_hand_model_B.sf_MATLABFunction3_bs.x *

            dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -

           (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

           dx_hand_model_B.t4 * dx_hand_model_B.t5 *

           dx_hand_model_B.sf_MATLABFunction2_f.x *

           dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) -

          (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

          dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

          dx_hand_model_B.sf_MATLABFunction1_p.y *

          dx_hand_model_B.sf_MATLABFunction3_bs.z * 1.482138742237647E+79) -

         (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

         dx_hand_model_B.t5 * dx_hand_model_B.t6 *

         dx_hand_model_B.sf_MATLABFunction1_p.y *

         dx_hand_model_B.sf_MATLABFunction3_bs.z * 9.0754823328680938E+62) -

        (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

        dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

        dx_hand_model_B.sf_MATLABFunction3_bs.y *

        dx_hand_model_B.sf_MATLABFunction2_f.z * 1.482138742237647E+79) -

       (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.Switch *

       dx_hand_model_B.t3_tmp * dx_hand_model_B.t4 *

       dx_hand_model_B.sf_MATLABFunction2_f.y *

       dx_hand_model_B.sf_MATLABFunction1_p.z * 1.482138742237647E+79) -

      (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

      dx_hand_model_B.t5 * dx_hand_model_B.t6 *

      dx_hand_model_B.sf_MATLABFunction3_bs.y *

      dx_hand_model_B.sf_MATLABFunction2_f.z * 9.0754823328680938E+62) -

     (real32_T)dx_hand_model_B.RateTransition_kl * dx_hand_model_B.t3_tmp *

     dx_hand_model_B.t5 * dx_hand_model_B.t6 *

     dx_hand_model_B.sf_MATLABFunction2_f.y *

     dx_hand_model_B.sf_MATLABFunction1_p.z * 9.0754823328680938E+62) *

    dx_hand_model_B.t90);

  dx_hand_model_B.t4 = dx_hand_model_B.t50_tmp_b * 9.0754823328680938E+62;

  dx_hand_model_B.Switch = dx_hand_model_B.t50_tmp * 9.0754823328680938E+62;

  dx_hand_model_B.t5 = dx_hand_model_B.t50_tmp_p * 9.0754823328680938E+62;

  dx_hand_model_B.t6 = dx_hand_model_B.t50_tmp_gu * 9.0754823328680938E+62;

  dx_hand_model_B.t8 = dx_hand_model_B.t50_tmp_g * 9.0754823328680938E+62;

  dx_hand_model_B.t9 = dx_hand_model_B.t50_tmp_dh * 9.0754823328680938E+62;

  dx_hand_model_B.t10 = dx_hand_model_B.t50_tmp_ld * 9.0754823328680938E+62;

  dx_hand_model_B.t11 = dx_hand_model_B.t50_tmp_f * 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_c *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_m *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_g1 *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_n *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_l *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_pp *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_j *= 1.482138742237647E+79;

  dx_hand_model_B.t50_tmp_jz *= 5.5571301948326333E+46;

  dx_hand_model_B.t50_tmp_fd *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_a *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_dy *= 5.5571301948326323E+46;

  dx_hand_model_B.t50_tmp_da *= 5.5571301948326333E+46;

  dx_hand_model_B.t50_tmp_ju *= 5.5571301948326333E+46;

  dx_hand_model_B.t50_tmp_e *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_bjv *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_jz5 *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_o4 *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_o *= 5.5571301948326323E+46;

  dx_hand_model_B.t50_tmp_lx *= 5.5571301948326323E+46;

  dx_hand_model_B.t50_tmp_i *= 5.5571301948326333E+46;

  dx_hand_model_B.t50_tmp_nu *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_bs *= 9.0754823328680938E+62;

  dx_hand_model_B.t50_tmp_ln *= 5.5571301948326323E+46;

  dx_hand_model_B.t50_tmp_ny *= 5.5571301948326333E+46;

  dx_hand_model_B.t47_tmp *= 5.5571301948326333E+46;

  dx_hand_model_B.t42_tmp_tmp *= 9.0754823328680938E+62;

  dx_hand_model_B.t41_tmp *= 9.0754823328680938E+62;

  dx_hand_model_B.t26_tmp *= 9.0754823328680938E+62;

  dx_hand_model_B.t23_tmp *= 9.0754823328680938E+62;

  dx_hand_model_B.t42_tmp *= 5.5571301948326323E+46;

  dx_hand_model_B.t20_tmp *= 5.5571301948326323E+46;

  dx_hand_model_B.MCP_AA_s[0].re =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (dx_hand_model_B.t240 + dx_hand_model_B.t241) + dx_hand_model_B.t242) +

    dx_hand_model_B.t243) + dx_hand_model_B.t244) + dx_hand_model_B.t245) +

    dx_hand_model_B.t246) + dx_hand_model_B.t247) + dx_hand_model_B.t248) +

    dx_hand_model_B.t249) + dx_hand_model_B.t250) + dx_hand_model_B.t251) +

    dx_hand_model_B.t252) + dx_hand_model_B.t253) + dx_hand_model_B.t254) +

    dx_hand_model_B.t255) + dx_hand_model_B.t256) + dx_hand_model_B.t257) +

    dx_hand_model_B.t258) + dx_hand_model_B.t259) + dx_hand_model_B.t260) +

    dx_hand_model_B.t261) + dx_hand_model_B.t262) + dx_hand_model_B.t263) +

    dx_hand_model_B.t264) + dx_hand_model_B.t265) + dx_hand_model_B.t266) +

    dx_hand_model_B.t267) + dx_hand_model_B.t268) + dx_hand_model_B.t269) +

    dx_hand_model_B.t270) + dx_hand_model_B.t271) + dx_hand_model_B.t272) +

    dx_hand_model_B.t273) + dx_hand_model_B.t274) + dx_hand_model_B.t275) +

    dx_hand_model_B.t276) + dx_hand_model_B.t277) + dx_hand_model_B.t278) +

    dx_hand_model_B.dc0.re) - dx_hand_model_B.t4) - dx_hand_model_B.Switch) -

    dx_hand_model_B.t5) - dx_hand_model_B.t6) - dx_hand_model_B.t8) -

    dx_hand_model_B.t9) - dx_hand_model_B.t10) - dx_hand_model_B.t11) -

    dx_hand_model_B.t50_tmp_c) - dx_hand_model_B.t50_tmp_m) -

    dx_hand_model_B.t50_tmp_g1) - dx_hand_model_B.t50_tmp_n) -

    dx_hand_model_B.t50_tmp_l) - dx_hand_model_B.t50_tmp_pp) -

    dx_hand_model_B.t50_tmp_j) - dx_hand_model_B.t50_tmp_jz) -

    dx_hand_model_B.t50_tmp_fd) - dx_hand_model_B.t50_tmp_a) -

    dx_hand_model_B.t50_tmp_dy) - dx_hand_model_B.t50_tmp_da) -

                       dx_hand_model_B.t50_tmp_ju) - dx_hand_model_B.t50_tmp_e)

                     - dx_hand_model_B.t50_tmp_bjv) -

                    dx_hand_model_B.t50_tmp_jz5) - dx_hand_model_B.t50_tmp_o4) -

                  dx_hand_model_B.t50_tmp_o) - dx_hand_model_B.t50_tmp_lx) -

                dx_hand_model_B.t50_tmp_i) - dx_hand_model_B.t50_tmp_nu) -

              dx_hand_model_B.t50_tmp_bs) - dx_hand_model_B.t50_tmp_ln) -

            dx_hand_model_B.t50_tmp_ny) - dx_hand_model_B.t47_tmp) -

          dx_hand_model_B.t42_tmp_tmp) - dx_hand_model_B.t41_tmp) -

        dx_hand_model_B.t26_tmp) - dx_hand_model_B.t23_tmp) -

      dx_hand_model_B.t42_tmp) - dx_hand_model_B.t20_tmp) * dx_hand_model_B.t279;

  dx_hand_model_B.MCP_AA_s[0].im = dx_hand_model_B.t279 * dx_hand_model_B.dc0.im;

  dx_hand_model_B.MCP_AA_s[1].re =

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (-dx_hand_model_B.t240 - dx_hand_model_B.t241) - dx_hand_model_B.t242) -

    dx_hand_model_B.t243) - dx_hand_model_B.t244) - dx_hand_model_B.t245) -

    dx_hand_model_B.t246) - dx_hand_model_B.t247) - dx_hand_model_B.t248) -

    dx_hand_model_B.t249) - dx_hand_model_B.t250) - dx_hand_model_B.t251) -

    dx_hand_model_B.t252) - dx_hand_model_B.t253) - dx_hand_model_B.t254) -

    dx_hand_model_B.t255) - dx_hand_model_B.t256) - dx_hand_model_B.t257) -

    dx_hand_model_B.t258) - dx_hand_model_B.t259) - dx_hand_model_B.t260) -

    dx_hand_model_B.t261) - dx_hand_model_B.t262) - dx_hand_model_B.t263) -

    dx_hand_model_B.t264) - dx_hand_model_B.t265) - dx_hand_model_B.t266) -

    dx_hand_model_B.t267) - dx_hand_model_B.t268) - dx_hand_model_B.t269) -

    dx_hand_model_B.t270) - dx_hand_model_B.t271) - dx_hand_model_B.t272) -

    dx_hand_model_B.t273) - dx_hand_model_B.t274) - dx_hand_model_B.t275) -

    dx_hand_model_B.t276) - dx_hand_model_B.t277) - dx_hand_model_B.t278) +

    dx_hand_model_B.dc1.re) + dx_hand_model_B.t4) + dx_hand_model_B.Switch) +

    dx_hand_model_B.t5) + dx_hand_model_B.t6) + dx_hand_model_B.t8) +

    dx_hand_model_B.t9) + dx_hand_model_B.t10) + dx_hand_model_B.t11) +

    dx_hand_model_B.t50_tmp_c) + dx_hand_model_B.t50_tmp_m) +

    dx_hand_model_B.t50_tmp_g1) + dx_hand_model_B.t50_tmp_n) +

    dx_hand_model_B.t50_tmp_l) + dx_hand_model_B.t50_tmp_pp) +

    dx_hand_model_B.t50_tmp_j) + dx_hand_model_B.t50_tmp_jz) +

    dx_hand_model_B.t50_tmp_fd) + dx_hand_model_B.t50_tmp_a) +

    dx_hand_model_B.t50_tmp_dy) + dx_hand_model_B.t50_tmp_da) +

                       dx_hand_model_B.t50_tmp_ju) + dx_hand_model_B.t50_tmp_e)

                     + dx_hand_model_B.t50_tmp_bjv) +

                    dx_hand_model_B.t50_tmp_jz5) + dx_hand_model_B.t50_tmp_o4) +

                  dx_hand_model_B.t50_tmp_o) + dx_hand_model_B.t50_tmp_lx) +

                dx_hand_model_B.t50_tmp_i) + dx_hand_model_B.t50_tmp_nu) +

              dx_hand_model_B.t50_tmp_bs) + dx_hand_model_B.t50_tmp_ln) +

            dx_hand_model_B.t50_tmp_ny) + dx_hand_model_B.t47_tmp) +

          dx_hand_model_B.t42_tmp_tmp) + dx_hand_model_B.t41_tmp) +

        dx_hand_model_B.t26_tmp) + dx_hand_model_B.t23_tmp) +

      dx_hand_model_B.t42_tmp) + dx_hand_model_B.t20_tmp) *

    -dx_hand_model_B.t279;

  dx_hand_model_B.MCP_AA_s[1].im = -dx_hand_model_B.t279 *

    dx_hand_model_B.dc1.im;

  dx_hand_model_atan(dx_hand_model_B.MCP_AA_s);



  /* DataTypeConversion: '<S233>/Data Type Conversion2' incorporates:

   *  MATLAB Function: '<S233>/Mother of Kinematics'

   */

  dx_hand_model_B.DataTypeConversion2_mj[0] = (real32_T)

    (dx_hand_model_B.MCP_AA_s[0].re * 2.0);



  /* MATLAB Function: '<S233>/Mother of Kinematics' */

  dx_hand_model_B.t20_tmp = dx_hand_model_B.MCP_AA_s[1].re * 2.0;



  /* DataTypeConversion: '<S233>/Data Type Conversion2' */

  dx_hand_model_B.DataTypeConversion2_mj[1] = (real32_T)dx_hand_model_B.t20_tmp;



  /* MATLAB Function: '<S233>/MATLAB Function5' incorporates:

   *  DataTypeConversion: '<S279>/Data Type Conversion1'

   *  DataTypeConversion: '<S280>/Data Type Conversion1'

   *  DataTypeConversion: '<S281>/Data Type Conversion1'

   */

  dx_hand_m_MATLABFunction4_o((real32_T)dx_hand_model_B.RateTransition_nk,

    (real32_T)dx_hand_model_B.RateTransition_mpf, (real32_T)

    dx_hand_model_B.RateTransition_ko, &dx_hand_model_B.sf_MATLABFunction5_a);



  /* MATLAB Function: '<S233>/MATLAB Function' incorporates:

   *  DataTypeConversion: '<S233>/Data Type Conversion2'

   *  DataTypeConversion: '<S283>/Data Type Conversion1'

   *  DataTypeConversion: '<S285>/Data Type Conversion1'

   */

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = (real32_T)fabs((real_T)

    dx_hand_model_B.DataTypeConversion2_mj[0]);

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] = (real32_T)fabs((real_T)

    (real32_T)dx_hand_model_B.t20_tmp);

  dx_hand_model_B.ixstart = 1;

  dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[0];

  dx_hand_model_B.k = 0;

  if (rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[0])) {

    dx_hand_model_B.ix = 2;

    exitg1 = false;

    while ((!exitg1) && (dx_hand_model_B.ix < 3)) {

      dx_hand_model_B.ixstart = 2;

      if (!rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[1])) {

        dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[1];

        dx_hand_model_B.k = 1;

        exitg1 = true;

      } else {

        dx_hand_model_B.ix = 3;

      }

    }

  }



  if ((dx_hand_model_B.ixstart < 2) &&

      (dx_hand_model_B.TmpSignalConversionAtSFun_c[1] < dx_hand_model_B.t739)) {

    dx_hand_model_B.k = 1;

  }



  dx_hand_model_B.Sum_nf = (real32_T)cos((real_T)

    dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k]);

  dx_hand_model_B.DataTypeConversion5_n =

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.t7 = dx_hand_model_B.DataTypeConversion5_n * 6.12323426E-17F;

  dx_hand_model_B.t1309 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.t9_tmp;

  dx_hand_model_B.t8_h = dx_hand_model_B.t7 - dx_hand_model_B.t1309;

  dx_hand_model_B.t9_l = (real32_T)sin((real_T)

    dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k]);

  dx_hand_model_B.t25_h = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.t10_j = dx_hand_model_B.t25_h * 6.12323426E-17F;

  dx_hand_model_B.t9_tmp_n = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.t9_tmp;

  dx_hand_model_B.t12_o = dx_hand_model_B.t9_tmp_n * 3.74939939E-33F +

    (dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 + dx_hand_model_B.t10_j);

  dx_hand_model_B.t16_e = dx_hand_model_B.t9_tmp_n + dx_hand_model_B.t10_j;

  dx_hand_model_B.t18_h = dx_hand_model_B.t1309 * 3.74939939E-33F +

    (dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 - dx_hand_model_B.t7);

  dx_hand_model_B.t19_e = dx_hand_model_B.t9_tmp * 6.12323426E-17F;

  dx_hand_model_B.t4_o = (real32_T)dx_hand_model_B.RateTransition_kl * (real32_T)

    dx_hand_model_B.t3_tmp;

  dx_hand_model_B.t7 = (real32_T)dx_hand_model_B.RateTransition_kl * (real32_T)

    dx_hand_model_B.t7_tmp;

  dx_hand_model_B.t3 = (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;



  /* ComplexToRealImag: '<S233>/Complex to Real-Imag' incorporates:

   *  DataTypeConversion: '<S283>/Data Type Conversion1'

   *  MATLAB Function: '<S233>/MATLAB Function'

   */

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 = ((((((dx_hand_model_B.t9_tmp_n

    * 6.12323426E-17F + dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    -6.12323426E-17F) + dx_hand_model_B.t25_h) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t9_l * 6.12323426E-17F) + dx_hand_model_B.Sum_nf *

    dx_hand_model_B.t12_o * 6.12323426E-17F) * dx_hand_model_B.t4_o +

    ((dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h + dx_hand_model_B.t9_l *

      dx_hand_model_B.t12_o) * dx_hand_model_B.t7 +

     dx_hand_model_B.sf_MATLABFunction5_a.x)) + dx_hand_model_B.t3 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F) - (real32_T)

    dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.t9_tmp;

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 =

    ((((((dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * 6.12323426E-17F +

          dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1309 *

         6.12323426E-17F) - dx_hand_model_B.Sum_nf * dx_hand_model_B.t18_h *

        6.12323426E-17F) + dx_hand_model_B.t9_l * dx_hand_model_B.t16_e *

       6.12323426E-17F) * dx_hand_model_B.t4_o +

      (dx_hand_model_B.sf_MATLABFunction5_a.y - (dx_hand_model_B.Sum_nf *

        dx_hand_model_B.t16_e + dx_hand_model_B.t9_l * dx_hand_model_B.t18_h) *

       dx_hand_model_B.t7)) - dx_hand_model_B.t3 * dx_hand_model_B.t9_tmp) -

    (real32_T)dx_hand_model_B.RateTransition_nz *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * 6.12323426E-17F;

  dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 =

    ((dx_hand_model_B.sf_MATLABFunction5_a.z - (real32_T)

      dx_hand_model_B.RateTransition_nz *

      dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2) - ((dx_hand_model_B.t19_e -

       6.12323426E-17F) * dx_hand_model_B.t9_l +

      dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.Sum_nf) *

     dx_hand_model_B.t7) - (((dx_hand_model_B.t9_tmp -

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.t9_l *

    6.12323426E-17F) + (dx_hand_model_B.t19_e - 6.12323426E-17F) *

    dx_hand_model_B.Sum_nf * 6.12323426E-17F) + 3.74939939E-33F) *

    dx_hand_model_B.t4_o;



  /* RateTransition: '<S284>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_jz =

      dx_hand_model_DW.RateTransition_Buffer0_of;

  }



  /* End of RateTransition: '<S284>/Rate Transition' */



  /* MATLAB Function: '<S233>/Find K' incorporates:

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag10'

   *  ComplexToRealImag: '<S227>/Complex to Real-Imag9'

   *  DataTypeConversion: '<S284>/Data Type Conversion1'

   */

  dx_hand_model_B.DataTypeConversion5_n =

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;

  dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

  dx_hand_model_B.t4_o = dx_hand_model_B.ComplextoRealImag1_d[0] *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t1313 *= dx_hand_model_B.t1313;

  dx_hand_model_B.Sum_nf = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t7 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.t8_h = (real32_T)dx_hand_model_B.RateTransition_jz * (real32_T)

    dx_hand_model_B.RateTransition_jz;

  dx_hand_model_B.t9_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t9_tmp_n = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.t9_tmp_d = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t9_l = (((((((dx_hand_model_B.DataTypeConversion5_n +

    dx_hand_model_B.t3) + dx_hand_model_B.t4_o) + dx_hand_model_B.t1313) +

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.t7) - dx_hand_model_B.t9_tmp *

    2.0F) - dx_hand_model_B.t9_tmp_n * 2.0F) - dx_hand_model_B.t9_tmp_d * 2.0F;

  dx_hand_model_B.t749 = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t26_tmp_g = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.t3;

  dx_hand_model_B.t27_m = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.Sum_nf * 2.0F;

  dx_hand_model_B.t28_h = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.t7;

  dx_hand_model_B.t29_c = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.t30_k = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t31_p = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.t32_p = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.t33_tmp = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t33_p = dx_hand_model_B.t33_tmp * 2.0F;

  dx_hand_model_B.t34_tmp = dx_hand_model_B.t9_tmp_n *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t34_a = dx_hand_model_B.t34_tmp * 2.0F;

  dx_hand_model_B.t1256_tmp = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t25_h = ((((((((dx_hand_model_B.t749 +

    dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)

    + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -

    dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a;

  dx_hand_model_B.t10_tmp = dx_hand_model_B.t25_h + dx_hand_model_B.t1256_tmp;

  dx_hand_model_B.t11_e = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t12_o = dx_hand_model_B.t4_o * dx_hand_model_B.t4_o;

  dx_hand_model_B.t13_b = dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t14_a = dx_hand_model_B.t1313 * dx_hand_model_B.t1313;

  dx_hand_model_B.t15_g = dx_hand_model_B.t3 * dx_hand_model_B.t3;

  dx_hand_model_B.t16_e = dx_hand_model_B.t7 * dx_hand_model_B.t7;

  dx_hand_model_B.t17_f = dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t18_h = dx_hand_model_B.ComplextoRealImag_b[2] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t19_e = dx_hand_model_B.ComplextoRealImag_b[1] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t20_c = dx_hand_model_B.t8_h * dx_hand_model_B.t8_h;

  dx_hand_model_B.t24_a = 1.0F / (dx_hand_model_B.t9_l * dx_hand_model_B.t9_l);

  dx_hand_model_B.t1251 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t3;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t7;

  dx_hand_model_B.t1261 = dx_hand_model_B.t3 * dx_hand_model_B.t7;

  dx_hand_model_B.t1212 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.t1328 = dx_hand_model_B.t3 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t739 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t750 = dx_hand_model_B.t3 * dx_hand_model_B.t1313;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.t3 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t752 = dx_hand_model_B.t4_o * dx_hand_model_B.t7;

  dx_hand_model_B.t754 = dx_hand_model_B.t1313 * dx_hand_model_B.t7;

  dx_hand_model_B.t755 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;

  dx_hand_model_B.t761_re = dx_hand_model_B.t4_o * dx_hand_model_B.t1313;

  dx_hand_model_B.t757_re = dx_hand_model_B.t4_o * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t760_re = dx_hand_model_B.t1313 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t758_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t759_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t762_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.JTcomp_idx_3_tmp_c = dx_hand_model_B.ComplextoRealImag1_d[0] *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t804 = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.JTcomp_idx_3_tmp_i = dx_hand_model_B.ComplextoRealImag1_d[1] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t803 = dx_hand_model_B.JTcomp_idx_3_tmp_i * dx_hand_model_B.t3;

  dx_hand_model_B.t835_re = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t763_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

  dx_hand_model_B.t10_j = dx_hand_model_B.t763_re *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t802 = dx_hand_model_B.t10_j *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t767_re = dx_hand_model_B.t763_re *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.t790 = dx_hand_model_B.t767_re *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t765_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f = dx_hand_model_B.t765_re *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t822 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t1309 = dx_hand_model_B.t765_re *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t836_re = dx_hand_model_B.t1309 *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t764_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m = dx_hand_model_B.t764_re *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.t768_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j = dx_hand_model_B.t764_re *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t769_re = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.t773_re = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t766_re = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t794 = dx_hand_model_B.t766_re *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.t771_re = dx_hand_model_B.t794 *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t823 = dx_hand_model_B.t33_tmp *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_m1 = dx_hand_model_B.t9_tmp_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t837_re = dx_hand_model_B.t9_tmp_d *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t838_re = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_cx = dx_hand_model_B.t758_re * dx_hand_model_B.t3;

  dx_hand_model_B.t824 = dx_hand_model_B.t759_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t839_re = dx_hand_model_B.t762_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t825 = dx_hand_model_B.t762_re * dx_hand_model_B.t3;

  dx_hand_model_B.t826_re = dx_hand_model_B.t758_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.t840_re = dx_hand_model_B.t9_tmp * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1226 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t841_re = dx_hand_model_B.t759_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t827_re = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t13_b;

  dx_hand_model_B.t828_re = dx_hand_model_B.t3 * dx_hand_model_B.t13_b;

  dx_hand_model_B.t829_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t11_e;

  dx_hand_model_B.t830_re = dx_hand_model_B.Sum_nf * dx_hand_model_B.t15_g;

  dx_hand_model_B.t842_re = dx_hand_model_B.t836_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t831_re = dx_hand_model_B.t836_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t843_re = dx_hand_model_B.t769_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_da = dx_hand_model_B.t769_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_c5 = dx_hand_model_B.t823 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_jw = dx_hand_model_B.t837_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_pie = dx_hand_model_B.t838_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ob = dx_hand_model_B.t835_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.t775 = dx_hand_model_B.t835_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t778 = dx_hand_model_B.t1251 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t797 = dx_hand_model_B.t1251 * dx_hand_model_B.t1313;

  dx_hand_model_B.t796 = dx_hand_model_B.t1212 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t770_re = dx_hand_model_B.t739 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t772_re = dx_hand_model_B.t1328 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t774 = dx_hand_model_B.t750 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fc = dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t777 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_al = dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_d4 = dx_hand_model_B.t1212 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ey = dx_hand_model_B.t1328 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_eh = dx_hand_model_B.t757_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bs = dx_hand_model_B.t760_re * dx_hand_model_B.t7;

  dx_hand_model_B.t1248 = dx_hand_model_B.t802 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t1250 = dx_hand_model_B.t790 * dx_hand_model_B.t1313;

  dx_hand_model_B.t1252 = dx_hand_model_B.t802 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_cy = dx_hand_model_B.t790 * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_n = dx_hand_model_B.t802 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t1253 = dx_hand_model_B.t790 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t1254 = dx_hand_model_B.t822 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t1255 = dx_hand_model_B.t822 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_kq = dx_hand_model_B.t768_re * dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp = dx_hand_model_B.t768_re *

    dx_hand_model_B.t3;

  dx_hand_model_B.t1312 = dx_hand_model_B.t773_re * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.t773_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.t771_re *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_be = dx_hand_model_B.t771_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_os = dx_hand_model_B.t773_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t819 = dx_hand_model_B.t771_re * dx_hand_model_B.t3;

  dx_hand_model_B.t818 = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t1313;

  dx_hand_model_B.t817 = dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t4_o;

  dx_hand_model_B.t814 = dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_my = dx_hand_model_B.t824 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_j = dx_hand_model_B.t804 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e = dx_hand_model_B.t803 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dn = dx_hand_model_B.t1212 * dx_hand_model_B.t7;

  dx_hand_model_B.xD1_tmp_tmp_k = dx_hand_model_B.t750 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bf = dx_hand_model_B.t761_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_m4e = dx_hand_model_B.t840_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ktf = dx_hand_model_B.t1226 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_a0x = dx_hand_model_B.t826_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_jkx = dx_hand_model_B.t841_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_kbp = dx_hand_model_B.t839_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hj5 = dx_hand_model_B.t825 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_d1 = dx_hand_model_B.t804 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t987_re = dx_hand_model_B.t803 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t832_re = dx_hand_model_B.tmp_tmp_ob * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_j1 = dx_hand_model_B.t775 * dx_hand_model_B.t7;

  dx_hand_model_B.t833_re = dx_hand_model_B.t823 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.tmp_tmp_tmp_g = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t821 = dx_hand_model_B.tmp_tmp_tmp_g *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t834_re = dx_hand_model_B.t34_tmp *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_p = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_tmp_kn = dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_n = dx_hand_model_B.tmp_tmp_tmp_kn *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_tmp_ok = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0

    * dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_tmp_ca = dx_hand_model_B.tmp_tmp_tmp_ok *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_cg = dx_hand_model_B.tmp_tmp_tmp_ca *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_tmp_ji = dx_hand_model_B.t766_re *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t820 = dx_hand_model_B.tmp_tmp_tmp_ji *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_tmp_tmp =

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_tmp_o = dx_hand_model_B.tmp_tmp_tmp_tmp *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_fx = dx_hand_model_B.tmp_tmp_tmp_o *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_py = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_pm = dx_hand_model_B.tmp_tmp_tmp_py *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_tmp_a =

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_tmp_om = dx_hand_model_B.tmp_tmp_tmp_tmp_a *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_nj = dx_hand_model_B.tmp_tmp_tmp_om *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_k = dx_hand_model_B.tmp_tmp_tmp_cm *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_n3 = dx_hand_model_B.t10_j *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_oy = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_gg = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t763_re *

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.t815 = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_jp = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_kn = dx_hand_model_B.t9_tmp * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mx = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pr = dx_hand_model_B.t758_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_d = dx_hand_model_B.t759_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_dx = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_g4k = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_o30 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_b = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1313;

  dx_hand_model_B.t813 = dx_hand_model_B.t821 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_pw = dx_hand_model_B.t823 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t812 = dx_hand_model_B.t821 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_pi = dx_hand_model_B.t834_re * dx_hand_model_B.t1313;

  dx_hand_model_B.t810 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t1313;

  dx_hand_model_B.t808 = dx_hand_model_B.t834_re * dx_hand_model_B.t3;

  dx_hand_model_B.t776 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t779 = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t780 = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t3;

  dx_hand_model_B.t781 = dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t7;

  dx_hand_model_B.t782 = dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lm5 = dx_hand_model_B.t837_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t785 = dx_hand_model_B.t838_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp_i = dx_hand_model_B.t815 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp_tmp_c = dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_kv = dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_jk = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_fz = dx_hand_model_B.tmp_tmp_pr *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_k = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_cm = dx_hand_model_B.tmp_tmp_tmp_k *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_fnt = dx_hand_model_B.t836_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_iv = dx_hand_model_B.t769_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_nnx = dx_hand_model_B.t836_re * dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_tmp = dx_hand_model_B.t823 *

    dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp = dx_hand_model_B.t821 * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_f = dx_hand_model_B.t769_re *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_h = dx_hand_model_B.t834_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_he = dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_hz = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t3;

  dx_hand_model_B.JTcomp_idx_3_tmp_m = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.xD1_tmp = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.xD1_tmp_i = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nq = dx_hand_model_B.t823 * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_tmp_m = dx_hand_model_B.t821 * dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_p = dx_hand_model_B.t834_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_f = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t4_o;

  dx_hand_model_B.xD1_tmp_tmp_o = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t1313;

  dx_hand_model_B.JTcomp_idx_3_tmp_a = dx_hand_model_B.t820 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.JTcomp_idx_3_tmp_k = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.JTcomp_idx_3_tmp_p = dx_hand_model_B.t820 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_kuk = dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jkf = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_hc = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_f2 = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_dy = dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_li = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_kg = dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_ft = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_gd = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_jc = dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[1] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_cqr = dx_hand_model_B.t794 *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_c1 = dx_hand_model_B.tmp_tmp_tmp *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_egf = dx_hand_model_B.tmp_tmp_tmp_c1 *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_mxd = dx_hand_model_B.t802 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_of = dx_hand_model_B.t790 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ai = dx_hand_model_B.t822 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_ji5 = dx_hand_model_B.t768_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_jkm = dx_hand_model_B.t773_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ee = dx_hand_model_B.t771_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jy = dx_hand_model_B.t822 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jb = dx_hand_model_B.t768_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_gi = dx_hand_model_B.t820 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_om = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_hm4 = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_c2b = dx_hand_model_B.t820 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_a0g = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_lua = dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_jcs = dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_ib = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_mid = dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ftf = dx_hand_model_B.t820 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_on = dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iz5 = dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_o4 = dx_hand_model_B.t802 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_frj = dx_hand_model_B.t790 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_axm = dx_hand_model_B.tmp_tmp_cg * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hi = dx_hand_model_B.t820 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oc = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.ComplextoRealImag_b[1] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_c *= dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_hnt = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_og = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mz = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ez = dx_hand_model_B.t815 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_izd = dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ge = dx_hand_model_B.tmp_tmp_pr *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gbr = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_kt = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ds = dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_el = dx_hand_model_B.t834_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_dat = dx_hand_model_B.t821 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hs = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nhy = dx_hand_model_B.t773_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_daj = dx_hand_model_B.t771_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bi = dx_hand_model_B.tmp_tmp_fx * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bt = dx_hand_model_B.tmp_tmp_nj * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_g4 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_c3 = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_if = dx_hand_model_B.t9_tmp * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lg = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_f1 = dx_hand_model_B.t835_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_db = dx_hand_model_B.t835_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_jr = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_i3 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_h2 = dx_hand_model_B.t758_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_nm = dx_hand_model_B.t759_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ch = dx_hand_model_B.t762_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_er = dx_hand_model_B.t762_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_tmp_al = dx_hand_model_B.t763_re *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_dd = dx_hand_model_B.tmp_tmp_tmp_al *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_tmp_oc = dx_hand_model_B.t765_re *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_ik = dx_hand_model_B.tmp_tmp_tmp_oc *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_ol = dx_hand_model_B.t764_re *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_gs = dx_hand_model_B.tmp_tmp_tmp_ol *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_o2 = dx_hand_model_B.ComplextoRealImag1_d[0] *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_tmp_d = dx_hand_model_B.tmp_tmp_tmp_o2 *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_nn = dx_hand_model_B.tmp_tmp_tmp_d *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_tmp_tmp_g = dx_hand_model_B.ComplextoRealImag1_d[0] *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_tmp_h = dx_hand_model_B.tmp_tmp_tmp_tmp_g *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_l0 = dx_hand_model_B.tmp_tmp_tmp_h *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_tmp_tmp_gy = dx_hand_model_B.ComplextoRealImag1_d[1] *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_tmp_i = dx_hand_model_B.tmp_tmp_tmp_tmp_gy *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_ce = dx_hand_model_B.tmp_tmp_tmp_i *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_fq = dx_hand_model_B.tmp_tmp_f1 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nl = dx_hand_model_B.tmp_tmp_d *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_p5 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iu = dx_hand_model_B.tmp_tmp_tmp_p5 *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_i3r = dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_il = dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fa = dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ji = dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oo = dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fr = dx_hand_model_B.t804 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_oyy = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j5 = dx_hand_model_B.t758_re *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ln = dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lu = dx_hand_model_B.t824 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gf = dx_hand_model_B.t839_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dv = dx_hand_model_B.t839_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_jo = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_f1s = dx_hand_model_B.t825 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_js = dx_hand_model_B.t803 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_a = dx_hand_model_B.t759_re *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ho = dx_hand_model_B.tmp_tmp_tmp_a *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nu = dx_hand_model_B.t825 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ki = dx_hand_model_B.t826_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_fn = dx_hand_model_B.tmp_tmp_h2 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jz = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_jd = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_kl = dx_hand_model_B.tmp_tmp_tmp_jd *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_bn = dx_hand_model_B.tmp_tmp_nm *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hm = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_eg = dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_tmp_jk = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hn = dx_hand_model_B.tmp_tmp_tmp_jk *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_m = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ku = dx_hand_model_B.tmp_tmp_tmp_m *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ooe = dx_hand_model_B.t841_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hw = dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iy = dx_hand_model_B.tmp_tmp_f1 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pl = dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_f0 = dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_nh = dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_tmp_e = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ho4 = dx_hand_model_B.tmp_tmp_tmp_e *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_hpt = dx_hand_model_B.tmp_tmp_er *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_f4 = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t26_m = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ic = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_h5 = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_mg = dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gm = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_lf = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_m4 = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nt = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gv = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_dj = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_mq = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_e0 = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_j0 = dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_m3r = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_otc = dx_hand_model_B.t837_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_gz = dx_hand_model_B.t838_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_fto = dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ci = dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_np5 = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_j0o = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_lc = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_phi = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_n3e = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_fni = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_fxv = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_i4x = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_nlw = dx_hand_model_B.t804 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_fj = dx_hand_model_B.tmp_tmp_cx *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ay = dx_hand_model_B.t824 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_mu = dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nh4 = dx_hand_model_B.t826_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_d4f = dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ky = dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_cl = dx_hand_model_B.tmp_tmp_nm *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_nmz = dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_ceo = dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_nc = dx_hand_model_B.Sum_nf * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_ph = dx_hand_model_B.t7 * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_dk = dx_hand_model_B.Sum_nf * dx_hand_model_B.t16_e;

  dx_hand_model_B.tmp_tmp_oi = dx_hand_model_B.t4_o * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_jrs = dx_hand_model_B.t1313 * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_c2 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;

  dx_hand_model_B.tmp_tmp_hp = dx_hand_model_B.Sum_nf * dx_hand_model_B.t14_a;

  dx_hand_model_B.tmp_tmp_a4 = dx_hand_model_B.t762_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ow = dx_hand_model_B.t835_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_l4 = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_k1 = dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_a0 = dx_hand_model_B.t761_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_d42 = dx_hand_model_B.t837_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_cf = dx_hand_model_B.t838_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_av = dx_hand_model_B.t840_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_jw4 = dx_hand_model_B.t1226 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_cs = dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ew = dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_fd = dx_hand_model_B.t822 * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ga = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_g3 = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_tmp_eb = dx_hand_model_B.t764_re *

    dx_hand_model_B.ComplextoRealImag1_d[0];

  dx_hand_model_B.tmp_tmp_jzu = dx_hand_model_B.tmp_tmp_tmp_eb *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_po = dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_ly = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_ld = dx_hand_model_B.t836_re * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_hb = dx_hand_model_B.t821 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_cg4 = dx_hand_model_B.t769_re * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_g0 = dx_hand_model_B.tmp_tmp_n * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_nl2 = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_e2 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_by = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_avh = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_i2 = dx_hand_model_B.tmp_tmp_ce *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_nqp = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_k3 = dx_hand_model_B.tmp_tmp_l0 *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_b0 = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_cq = dx_hand_model_B.tmp_tmp_cq *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_iee = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_bjy = dx_hand_model_B.tmp_tmp_n3 *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_oq = dx_hand_model_B.tmp_tmp_g3 *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_gsm = dx_hand_model_B.tmp_tmp_jzu *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.tmp_tmp_tmp_c = dx_hand_model_B.t10_j *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_ed = dx_hand_model_B.tmp_tmp_tmp_c *

    dx_hand_model_B.ComplextoRealImag_b[1] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_is = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_m5 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_dl = dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_j4 = dx_hand_model_B.tmp_tmp_ik *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pe = dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_b4 = dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_pn1 = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_jkh = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_ko = dx_hand_model_B.t823 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_cg1 = dx_hand_model_B.t768_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_j11 = dx_hand_model_B.t834_re * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_an = dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_aq = dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_lgb = dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_kb = dx_hand_model_B.t7 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_dr = dx_hand_model_B.Sum_nf * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_np = dx_hand_model_B.t8_h * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_hzv = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_iq = dx_hand_model_B.t835_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_hj = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_pn = dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_nk = dx_hand_model_B.t755 * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_jza = dx_hand_model_B.t757_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_ot = dx_hand_model_B.t760_re * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_bj = dx_hand_model_B.t9_tmp * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_i4 = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t13_b;

  dx_hand_model_B.tmp_tmp_ng = dx_hand_model_B.t762_re * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ie = dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_p3 = dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_gb = dx_hand_model_B.tmp_tmp_kn *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ca = dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_pd = dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_tmp_j = dx_hand_model_B.t767_re *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.tmp_tmp_in = dx_hand_model_B.tmp_tmp_tmp_j *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_n0 = dx_hand_model_B.tmp_tmp_g3 *

    dx_hand_model_B.ComplextoRealImag_b[1] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_izy = dx_hand_model_B.tmp_tmp_jzu *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.tmp_tmp_gr = dx_hand_model_B.tmp_tmp_mx *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_gu = dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_chk = dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.Sum_nf;

  dx_hand_model_B.tmp_tmp_ih = dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_no = dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t8_h;

  dx_hand_model_B.tmp_tmp_fa5 = dx_hand_model_B.t790 * dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_eu = dx_hand_model_B.t771_re *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_inq = dx_hand_model_B.t802 * dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_a0m = dx_hand_model_B.t773_re * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_ldg = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.tmp_tmp_aiu = dx_hand_model_B.tmp_tmp_dd *

    dx_hand_model_B.t1313;

  dx_hand_model_B.tmp_tmp_iyd = dx_hand_model_B.tmp_tmp_nn *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.tmp_tmp_ok = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t3;

  dx_hand_model_B.tmp_tmp_b4z = dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t7;

  dx_hand_model_B.tmp_tmp_tmp_b = dx_hand_model_B.t765_re *

    dx_hand_model_B.ComplextoRealImag1_d[1];

  dx_hand_model_B.tmp_tmp_i0 = dx_hand_model_B.tmp_tmp_tmp_b *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.tmp_tmp_lgo = dx_hand_model_B.tmp_tmp_tmp_eb *

    dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t1212 = 1.0F /

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t812

    * 2.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.DataTypeConversion5_n

    * dx_hand_model_B.t14_a + dx_hand_model_B.t3 * dx_hand_model_B.t12_o) +

    dx_hand_model_B.t1313 * dx_hand_model_B.t11_e) + dx_hand_model_B.t4_o *

    dx_hand_model_B.t15_g) + dx_hand_model_B.t827_re) + dx_hand_model_B.t829_re)

    + dx_hand_model_B.t7 * dx_hand_model_B.t12_o) + dx_hand_model_B.t4_o *

    dx_hand_model_B.t16_e) + dx_hand_model_B.t828_re) + dx_hand_model_B.t7 *

    dx_hand_model_B.t14_a) + dx_hand_model_B.t830_re) + dx_hand_model_B.t1313 *

    dx_hand_model_B.t16_e) + dx_hand_model_B.t11_e * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t15_g * dx_hand_model_B.t17_f) + dx_hand_model_B.t11_e *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) + dx_hand_model_B.t16_e *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t12_o * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t14_a * dx_hand_model_B.t17_f) + dx_hand_model_B.t12_o *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t14_a * dx_hand_model_B.t18_h) + dx_hand_model_B.t13_b *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t778) + dx_hand_model_B.t797) +

    dx_hand_model_B.tmp_tmp_dn) + dx_hand_model_B.tmp_tmp_fc * 2.0F) +

    dx_hand_model_B.t739 * dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t1328 *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t777) +

    dx_hand_model_B.xD1_tmp_tmp_k) + dx_hand_model_B.tmp_tmp_al) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 *

    dx_hand_model_B.t19_e) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.t17_f) + dx_hand_model_B.t1251 * dx_hand_model_B.t18_h *

    2.0F) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t *

    dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t1261 *

    dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t1261 * dx_hand_model_B.t19_e) + dx_hand_model_B.t1261 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_d4) + dx_hand_model_B.t796)

    + dx_hand_model_B.tmp_tmp_ey) + dx_hand_model_B.t770_re * 2.0F) +

    dx_hand_model_B.t772_re * 2.0F) + dx_hand_model_B.tmp_tmp_bf * 2.0F) +

    dx_hand_model_B.t774) + dx_hand_model_B.tmp_tmp_eh) +

    dx_hand_model_B.tmp_tmp_bs) + dx_hand_model_B.t1212 * dx_hand_model_B.t19_e *

    6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t17_f) + dx_hand_model_B.t1212 *

    dx_hand_model_B.t18_h * 6.0F) + dx_hand_model_B.t739 * dx_hand_model_B.t19_e)

    + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t19_e) + dx_hand_model_B.t750 *

    dx_hand_model_B.t17_f * 6.0F) + dx_hand_model_B.t752 * dx_hand_model_B.t17_f)

    + dx_hand_model_B.t739 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t19_e *

    2.0F) + dx_hand_model_B.t1328 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t752 * dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t754 *

    dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t750 * dx_hand_model_B.t18_h * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t19_e) + dx_hand_model_B.t752 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t754 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.t755 * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t18_h) + dx_hand_model_B.t754 *

    dx_hand_model_B.t18_h) + dx_hand_model_B.t755 * dx_hand_model_B.t19_e * 6.0F)

    + dx_hand_model_B.t761_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t761_re

    * dx_hand_model_B.t19_e) + dx_hand_model_B.t757_re * dx_hand_model_B.t17_f)

    + dx_hand_model_B.t761_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t757_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t760_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t760_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.t818 * 4.0F) + dx_hand_model_B.t817 * 4.0F) +

    dx_hand_model_B.tmp_tmp_m4e * 4.0F) + dx_hand_model_B.tmp_tmp_jw * 4.0F) +

    dx_hand_model_B.tmp_tmp_ktf * 4.0F) + dx_hand_model_B.tmp_tmp_pie * 4.0F) +

    dx_hand_model_B.t814 * 4.0F) + dx_hand_model_B.tmp_tmp_a0x * 4.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_my * 4.0F) + dx_hand_model_B.tmp_tmp_jkx *

    4.0F) + dx_hand_model_B.tmp_tmp_kbp * 4.0F) + dx_hand_model_B.tmp_tmp_hj5 *

    4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j * 4.0F) +

    dx_hand_model_B.tmp_tmp_d1 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    4.0F) + dx_hand_model_B.t987_re * 4.0F) + dx_hand_model_B.t832_re * 4.0F) +

    dx_hand_model_B.tmp_tmp_j1 * 4.0F) + dx_hand_model_B.t1248 * 6.0F) +

    dx_hand_model_B.t1250 * 6.0F) + dx_hand_model_B.t1252 * 2.0F) +

    dx_hand_model_B.tmp_tmp_cy * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    2.0F) + dx_hand_model_B.t1253 * 2.0F) + dx_hand_model_B.t1254 * 6.0F) +

    dx_hand_model_B.t842_re * 6.0F) + dx_hand_model_B.t822 * dx_hand_model_B.t7 *

    2.0F) + dx_hand_model_B.t836_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t1255 * 2.0F) + dx_hand_model_B.t831_re * 2.0F) +

    dx_hand_model_B.tmp_tmp_kq * 6.0F) + dx_hand_model_B.t843_re * 6.0F) +

    dx_hand_model_B.t768_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * 2.0F) +

    dx_hand_model_B.tmp_tmp_da * 2.0F) + dx_hand_model_B.t1312 * 2.0F) +

    dx_hand_model_B.xD1_tmp_o * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

    2.0F) + dx_hand_model_B.tmp_tmp_be * 2.0F) + dx_hand_model_B.tmp_tmp_os *

    6.0F) + dx_hand_model_B.t819 * 6.0F) + dx_hand_model_B.t833_re * 2.0F) +

    dx_hand_model_B.tmp_tmp_c5 * 2.0F)) + dx_hand_model_B.t813 * 2.0F) +

    dx_hand_model_B.tmp_tmp_pw * 6.0F) + dx_hand_model_B.tmp_tmp_dat * 6.0F) +

    dx_hand_model_B.tmp_tmp_el * 2.0F) + dx_hand_model_B.tmp_tmp_pi * 2.0F) +

    dx_hand_model_B.t776 * 2.0F) + dx_hand_model_B.t810 * 2.0F) +

    dx_hand_model_B.t808 * 6.0F) + dx_hand_model_B.tmp_tmp_hs * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp_o * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_a *

    2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_k * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_p * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_m * 2.0F) + dx_hand_model_B.tmp_tmp_hc *

    2.0F) + dx_hand_model_B.t779 * 2.0F) + dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.xD1_tmp_i * 2.0F) +

    dx_hand_model_B.tmp_tmp_li * 2.0F) + dx_hand_model_B.t780 * 2.0F) +

    dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_o4 * 2.0F) + dx_hand_model_B.tmp_tmp_frj * 2.0F) +

    dx_hand_model_B.tmp_tmp_ai * 2.0F) + dx_hand_model_B.tmp_tmp_fnt * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji5 * 2.0F) + dx_hand_model_B.tmp_tmp_iv * 2.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t18_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_mxd * 6.0F) + dx_hand_model_B.tmp_tmp_of * 6.0F) +

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_nhy * 6.0F) + dx_hand_model_B.tmp_tmp_daj * 6.0F) +

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t19_e * 8.0F) +

    dx_hand_model_B.tmp_tmp_jy * 6.0F) + dx_hand_model_B.tmp_tmp_nnx * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp * 6.0F) + dx_hand_model_B.tmp_tmp_oy *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t17_f * 8.0F) + dx_hand_model_B.tmp_tmp_jb * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_f * 6.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_h * 6.0F) + dx_hand_model_B.tmp_tmp_he *

    6.0F) + dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gi * 6.0F) + dx_hand_model_B.tmp_tmp_om * 6.0F) +

    dx_hand_model_B.tmp_tmp_axm * 2.0F) + dx_hand_model_B.tmp_tmp_hi * 2.0F) +

    dx_hand_model_B.tmp_tmp_a0g * 6.0F) + dx_hand_model_B.tmp_tmp_hz * 2.0F) +

    dx_hand_model_B.tmp_tmp_lua * 2.0F) + dx_hand_model_B.tmp_tmp_bi * 6.0F) +

    dx_hand_model_B.xD1_tmp * 2.0F) + dx_hand_model_B.tmp_tmp_jcs * 2.0F) +

    dx_hand_model_B.tmp_tmp_ib * 6.0F) + dx_hand_model_B.tmp_tmp_bt * 6.0F) +

    dx_hand_model_B.tmp_tmp_jkm * 2.0F) + dx_hand_model_B.tmp_tmp_ee * 2.0F) +

    dx_hand_model_B.tmp_tmp_nq * 2.0F) + dx_hand_model_B.xD1_tmp_tmp_m * 2.0F) +

    dx_hand_model_B.xD1_tmp_p * 2.0F) + dx_hand_model_B.xD1_tmp_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_mid * 6.0F) + dx_hand_model_B.tmp_tmp_ftf * 6.0F) +

    dx_hand_model_B.tmp_tmp_hm4 * 2.0F) + dx_hand_model_B.tmp_tmp_mi * 6.0F) +

    dx_hand_model_B.tmp_tmp_c2b * 2.0F) + dx_hand_model_B.tmp_tmp_kuk * 2.0F) +

    dx_hand_model_B.tmp_tmp_on * 2.0F) + dx_hand_model_B.tmp_tmp_jkf * 2.0F) +

    dx_hand_model_B.tmp_tmp_f2 * 6.0F) + dx_hand_model_B.tmp_tmp_iz5 * 2.0F) +

    dx_hand_model_B.tmp_tmp_dy * 6.0F) + dx_hand_model_B.tmp_tmp_kg * 6.0F) +

    dx_hand_model_B.tmp_tmp_jc * 4.0F) + dx_hand_model_B.tmp_tmp_cqr * 4.0F) +

    dx_hand_model_B.tmp_tmp_egf * 4.0F) + dx_hand_model_B.tmp_tmp_ft * 12.0F) +

    dx_hand_model_B.tmp_tmp_oc * 4.0F) + dx_hand_model_B.tmp_tmp_hnt * 4.0F) +

    dx_hand_model_B.tmp_tmp_gd * 4.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.t758_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t759_re *

    dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_c *

    dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t759_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.t12_o * 2.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.t11_e * 2.0F) - dx_hand_model_B.JTcomp_idx_3_tmp_i *

    dx_hand_model_B.t16_e * 2.0F) - dx_hand_model_B.t762_re *

    dx_hand_model_B.t14_a * 2.0F) - dx_hand_model_B.t835_re *

    dx_hand_model_B.t15_g * 2.0F) - dx_hand_model_B.tmp_tmp_og * 2.0F) -

    dx_hand_model_B.t781 * 2.0F) - dx_hand_model_B.tmp_tmp_mz * 2.0F) -

    dx_hand_model_B.t782 * 2.0F) - dx_hand_model_B.tmp_tmp_lm5 * 2.0F) -

    dx_hand_model_B.t785 * 2.0F) - dx_hand_model_B.tmp_tmp_ez * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_i * 2.0F) - dx_hand_model_B.tmp_tmp_izd * 2.0F)

    - dx_hand_model_B.xD1_tmp_tmp_c * 2.0F) - dx_hand_model_B.tmp_tmp_kv * 2.0F)

    - dx_hand_model_B.tmp_tmp_jk * 2.0F) - dx_hand_model_B.tmp_tmp_kn *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t19_e

    * 4.0F) - dx_hand_model_B.tmp_tmp_ge * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *

    2.0F) - dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_kt * 2.0F) - dx_hand_model_B.t815 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_fz * 2.0F) -

    dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_ds * 2.0F) - dx_hand_model_B.tmp_tmp_cm * 2.0F) -

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_g4 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_fq * 2.0F) - dx_hand_model_B.tmp_tmp_jp *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_nl * 2.0F) -

    dx_hand_model_B.tmp_tmp_iu * 2.0F) - dx_hand_model_B.tmp_tmp_c3 *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ch *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_g4 *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_i3r * 2.0F) -

    dx_hand_model_B.tmp_tmp_c3 * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * 2.0F) - dx_hand_model_B.tmp_tmp_fa * 2.0F) -

    dx_hand_model_B.tmp_tmp_ji * 2.0F) - dx_hand_model_B.tmp_tmp_oo * 2.0F) -

    dx_hand_model_B.tmp_tmp_otc * 2.0F) - dx_hand_model_B.tmp_tmp_gz * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nlw * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_fj * 6.0F) -

    dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ay * 6.0F) - dx_hand_model_B.tmp_tmp_fr * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_oyy * 2.0F) - dx_hand_model_B.tmp_tmp_if *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fto * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_mu * 2.0F) - dx_hand_model_B.tmp_tmp_g4k *

    dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_if *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ln * 6.0F) -

    dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_ci * 2.0F) - dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_lu * 2.0F) -

    dx_hand_model_B.t837_re * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_gf * 6.0F) - dx_hand_model_B.tmp_tmp_dx *

    dx_hand_model_B.t7 * 4.0F) - dx_hand_model_B.tmp_tmp_lg *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t837_re *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_dv * 2.0F) -

    dx_hand_model_B.tmp_tmp_jo * 4.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_f1s * 2.0F) -

    dx_hand_model_B.tmp_tmp_js * 2.0F) - dx_hand_model_B.tmp_tmp_lg *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_ho * 6.0F) -

    dx_hand_model_B.t837_re * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.t838_re * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_nu * 6.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_db *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_nh4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.t840_re * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ki * 2.0F) - dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_d4f * 6.0F) -

    dx_hand_model_B.tmp_tmp_ky * 6.0F) - dx_hand_model_B.tmp_tmp_jr *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.t840_re *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_fn * 4.0F) -

    dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_cl * 2.0F) - dx_hand_model_B.tmp_tmp_jz * 2.0F) -

    dx_hand_model_B.tmp_tmp_kl * 2.0F) - dx_hand_model_B.t840_re *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1226 *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_i3 *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_bn * 4.0F) -

    dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_hm * 2.0F) - dx_hand_model_B.tmp_tmp_eg * 6.0F) -

    dx_hand_model_B.tmp_tmp_hn * 6.0F) - dx_hand_model_B.tmp_tmp_ku * 2.0F) -

    dx_hand_model_B.t1226 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ooe * 2.0F) - dx_hand_model_B.tmp_tmp_o30 *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_hw * 4.0F) -

    dx_hand_model_B.tmp_tmp_b * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_iy * 2.0F) - dx_hand_model_B.tmp_tmp_pl * 2.0F) -

    dx_hand_model_B.t1226 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_o30 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_f0 * 2.0F) - dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_nh * 6.0F) -

    dx_hand_model_B.tmp_tmp_ho4 * 6.0F) - dx_hand_model_B.tmp_tmp_b *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hpt * 2.0F) -

    dx_hand_model_B.tmp_tmp_np5 * 2.0F) - dx_hand_model_B.tmp_tmp_j0o * 2.0F) -

    dx_hand_model_B.tmp_tmp_lc * 2.0F) - dx_hand_model_B.tmp_tmp_phi * 2.0F) -

    dx_hand_model_B.tmp_tmp_f4 * 2.0F) - dx_hand_model_B.tmp_tmp_ic * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_h5 * 2.0F) - dx_hand_model_B.t26_m * 2.0F) -

    dx_hand_model_B.tmp_tmp_mg * 2.0F) - dx_hand_model_B.tmp_tmp_gg *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_gm * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3e * 2.0F) - dx_hand_model_B.tmp_tmp_fni * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lf * 2.0F) - dx_hand_model_B.tmp_tmp_gs *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_m4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_fxv * 2.0F) - dx_hand_model_B.tmp_tmp_i4x * 2.0F) -

    dx_hand_model_B.tmp_tmp_nt * 2.0F) - dx_hand_model_B.tmp_tmp_gv * 2.0F) -

    dx_hand_model_B.tmp_tmp_dj * 2.0F) - dx_hand_model_B.tmp_tmp_mq * 2.0F) -

    dx_hand_model_B.tmp_tmp_nmz * 2.0F) - dx_hand_model_B.tmp_tmp_e0 * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0 * 2.0F) - dx_hand_model_B.tmp_tmp_ceo * 2.0F) -

    dx_hand_model_B.tmp_tmp_m3r * 2.0F) - dx_hand_model_B.tmp_tmp_m5 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ga * 2.0F) - dx_hand_model_B.tmp_tmp_po * 2.0F) -

    dx_hand_model_B.tmp_tmp_ly * 2.0F) - dx_hand_model_B.tmp_tmp_fa5 * 2.0F) -

    dx_hand_model_B.tmp_tmp_eu * 2.0F) - dx_hand_model_B.tmp_tmp_inq * 2.0F) -

    dx_hand_model_B.tmp_tmp_a0m * 2.0F) - dx_hand_model_B.tmp_tmp_ld * 2.0F) -

    dx_hand_model_B.tmp_tmp_hb * 2.0F) - dx_hand_model_B.tmp_tmp_fd * 2.0F) -

    dx_hand_model_B.tmp_tmp_ko * 2.0F) - dx_hand_model_B.tmp_tmp_cg4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_g0 * 2.0F) - dx_hand_model_B.tmp_tmp_cg1 * 2.0F) -

    dx_hand_model_B.tmp_tmp_j11 * 2.0F) - dx_hand_model_B.tmp_tmp_ldg * 6.0F) -

    dx_hand_model_B.tmp_tmp_aiu * 6.0F) - dx_hand_model_B.tmp_tmp_is * 2.0F) -

    dx_hand_model_B.tmp_tmp_dl * 6.0F) - dx_hand_model_B.tmp_tmp_j4 * 2.0F) -

    dx_hand_model_B.tmp_tmp_nl2 * 6.0F) - dx_hand_model_B.tmp_tmp_pe * 2.0F) -

    dx_hand_model_B.tmp_tmp_b4 * 6.0F) - dx_hand_model_B.tmp_tmp_e2 * 6.0F) -

    dx_hand_model_B.tmp_tmp_iyd * 6.0F) - dx_hand_model_B.tmp_tmp_ok * 6.0F) -

    dx_hand_model_B.tmp_tmp_by * 6.0F) - dx_hand_model_B.tmp_tmp_b4z * 2.0F) -

    dx_hand_model_B.tmp_tmp_avh * 2.0F) - dx_hand_model_B.tmp_tmp_i2 * 2.0F) -

                      dx_hand_model_B.tmp_tmp_an * 6.0F) -

                     dx_hand_model_B.tmp_tmp_nqp * 6.0F) -

                    dx_hand_model_B.tmp_tmp_aq * 6.0F) -

                   dx_hand_model_B.tmp_tmp_pn1 * 2.0F) -

                  dx_hand_model_B.tmp_tmp_k3 * 2.0F) -

                 dx_hand_model_B.tmp_tmp_b0 * 2.0F) -

                dx_hand_model_B.tmp_tmp_jkh * 8.0F) - dx_hand_model_B.tmp_tmp_cq

               * 8.0F) - dx_hand_model_B.tmp_tmp_iee * 8.0F) -

             dx_hand_model_B.tmp_tmp_bjy * 8.0F) - dx_hand_model_B.tmp_tmp_oq *

            8.0F) - dx_hand_model_B.tmp_tmp_gsm * 8.0F) -

          dx_hand_model_B.tmp_tmp_ed * 4.0F) - dx_hand_model_B.tmp_tmp_in * 4.0F)

        - dx_hand_model_B.tmp_tmp_n0 * 4.0F) - dx_hand_model_B.tmp_tmp_i0 * 4.0F)

      - dx_hand_model_B.tmp_tmp_izy * 4.0F) - dx_hand_model_B.tmp_tmp_lgo * 4.0F)

    * (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_in

    * dx_hand_model_B.t8_h * 4.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t1255 *

    dx_hand_model_B.Sum_nf * 2.0F +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    ((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.t777 *

    dx_hand_model_B.t17_f +

    (((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((

    (((((((((((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o

    * dx_hand_model_B.t13_b + dx_hand_model_B.t11_e * dx_hand_model_B.t13_b) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t13_b) + dx_hand_model_B.t13_b

    * dx_hand_model_B.t15_g) + dx_hand_model_B.tmp_tmp_nc *

    dx_hand_model_B.t17_f) + dx_hand_model_B.tmp_tmp_nc * dx_hand_model_B.t19_e)

    + dx_hand_model_B.t1251 * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t13_b) +

    dx_hand_model_B.t1261 * dx_hand_model_B.t13_b) + dx_hand_model_B.t1212 *

    dx_hand_model_B.t13_b) + dx_hand_model_B.t739 * dx_hand_model_B.t13_b * 2.0F)

    + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t14_a) +

    dx_hand_model_B.t1328 * dx_hand_model_B.t13_b * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp * dx_hand_model_B.t12_o) +

    dx_hand_model_B.t760_re * dx_hand_model_B.t11_e) + dx_hand_model_B.t757_re *

    dx_hand_model_B.t15_g) + dx_hand_model_B.t750 * dx_hand_model_B.t13_b) +

    dx_hand_model_B.t752 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *

    dx_hand_model_B.t12_o) + dx_hand_model_B.t757_re * dx_hand_model_B.t16_e) +

    dx_hand_model_B.t754 * dx_hand_model_B.t13_b) + dx_hand_model_B.t755 *

    dx_hand_model_B.t14_a) + dx_hand_model_B.t760_re * dx_hand_model_B.t16_e) +

    dx_hand_model_B.t827_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t827_re *

    dx_hand_model_B.t19_e * 2.0F) + dx_hand_model_B.t828_re *

    dx_hand_model_B.t17_f * 2.0F) + dx_hand_model_B.t829_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t830_re * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t827_re * dx_hand_model_B.t18_h) + dx_hand_model_B.t828_re *

    dx_hand_model_B.t19_e) + dx_hand_model_B.t829_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t828_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_ph * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.t830_re * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_dk * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_oi * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_c2 * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_jrs * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_hp * dx_hand_model_B.t18_h) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o * dx_hand_model_B.t20_c) +

    dx_hand_model_B.t752 * dx_hand_model_B.t20_c) + dx_hand_model_B.xD1_tmp_tmp *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t754 * dx_hand_model_B.t20_c) +

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t17_f *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t3 * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t7 * dx_hand_model_B.t19_e *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t4_o * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t17_f *

    dx_hand_model_B.t20_c) + dx_hand_model_B.t1313 * dx_hand_model_B.t18_h *

    dx_hand_model_B.t20_c) + dx_hand_model_B.Sum_nf * dx_hand_model_B.t19_e *

    dx_hand_model_B.t20_c) + dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t13_b *

    4.0F) + dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.t842_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t831_re * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t843_re * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t839_re * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t825 * dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.t804 *

    dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_c5 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t813 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_pw *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t812 * dx_hand_model_B.t7 *

    6.0F) + dx_hand_model_B.t803 * dx_hand_model_B.t13_b * 4.0F) +

    dx_hand_model_B.tmp_tmp_pi * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t810 * dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t808

    * dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t776 * dx_hand_model_B.t7

    * 6.0F) + dx_hand_model_B.t779 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t780 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.t758_re * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b *

    4.0F) + dx_hand_model_B.t759_re * dx_hand_model_B.t8_h *

    dx_hand_model_B.t13_b * 4.0F) + dx_hand_model_B.tmp_tmp_a4 *

    dx_hand_model_B.t12_o * 2.0F) + dx_hand_model_B.tmp_tmp_ow *

    dx_hand_model_B.t11_e * 2.0F) + dx_hand_model_B.tmp_tmp_a4 *

    dx_hand_model_B.t14_a * 2.0F) + dx_hand_model_B.tmp_tmp_ow *

    dx_hand_model_B.t15_g * 2.0F) + dx_hand_model_B.tmp_tmp_jw *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_pie *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ob *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t775 *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.t781 *

    dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.t782 * dx_hand_model_B.t8_h *

    2.0F) + dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t785 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_i * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jk * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kn * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.t815 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_fz * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_mx * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t17_f * 6.0F) +

    dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_nl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_iu * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_l4 * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.tmp_tmp_i3r * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_k1 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.t836_re * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t821 *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t834_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t778 *

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.t797 * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.t796 * dx_hand_model_B.t7) + dx_hand_model_B.t770_re *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t772_re * dx_hand_model_B.t7 *

    2.0F) + dx_hand_model_B.t774 * dx_hand_model_B.t7) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t19_e)) +

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t777 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t777 * dx_hand_model_B.t18_h) + dx_hand_model_B.tmp_tmp_al *

    dx_hand_model_B.t19_e) + dx_hand_model_B.tmp_tmp_al * dx_hand_model_B.t18_h)

    + dx_hand_model_B.tmp_tmp_d4 * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_ey * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.t796 * dx_hand_model_B.t19_e * 6.0F) +

    dx_hand_model_B.t770_re * dx_hand_model_B.t17_f) + dx_hand_model_B.t772_re *

    dx_hand_model_B.t17_f) + dx_hand_model_B.t796 * dx_hand_model_B.t18_h * 6.0F)

    + dx_hand_model_B.t770_re * dx_hand_model_B.t19_e) + dx_hand_model_B.t772_re

    * dx_hand_model_B.t19_e) + dx_hand_model_B.t774 * dx_hand_model_B.t17_f *

    6.0F) + dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t17_f) +

    dx_hand_model_B.t770_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.t772_re * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.t774 * dx_hand_model_B.t18_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_eh * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_bs * dx_hand_model_B.t18_h) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t17_f) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t19_e) +

    dx_hand_model_B.tmp_tmp_a0 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_fa * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_if * dx_hand_model_B.t8_h * dx_hand_model_B.t17_f *

    2.0F) + dx_hand_model_B.tmp_tmp_fr * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.tmp_tmp_oyy *

    dx_hand_model_B.t8_h * 2.0F) + dx_hand_model_B.tmp_tmp_ln *

    dx_hand_model_B.t8_h * 4.0F) + dx_hand_model_B.tmp_tmp_m1 *

    dx_hand_model_B.t8_h * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_lu * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_lg * dx_hand_model_B.t8_h * dx_hand_model_B.t19_e *

    2.0F) + dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_js * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ho * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_d42 * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_cf * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_ki * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jr * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_kl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_av * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_i3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    4.0F) + dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_eg * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_hn * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_ku * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_ooe * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t17_f * 2.0F) +

    dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_jw4 * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cs * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t19_e * 2.0F) +

    dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_ho4 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_ew * dx_hand_model_B.t18_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.t802 * dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t790 *

    dx_hand_model_B.t13_b * 6.0F) + dx_hand_model_B.t773_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t771_re *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.tmp_tmp_cg *

    dx_hand_model_B.t13_b * 2.0F) + dx_hand_model_B.t820 * dx_hand_model_B.t13_b

    * 2.0F) + dx_hand_model_B.tmp_tmp_pm * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.tmp_tmp_k * dx_hand_model_B.t13_b * 6.0F) +

    dx_hand_model_B.t822 * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t836_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t768_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t769_re * dx_hand_model_B.t20_c * 2.0F) +

    dx_hand_model_B.t823 * dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t821 *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.t834_re *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_n *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fx *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_pm *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_nj *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_k *

    dx_hand_model_B.t20_c * 2.0F) + dx_hand_model_B.tmp_tmp_fnt *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_iv *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1248 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.t1250 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t17_f * 4.0F) + dx_hand_model_B.t1252 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_cy *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_n *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.t1253 *

    dx_hand_model_B.Sum_nf * 2.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t19_e * 8.0F) + dx_hand_model_B.tmp_tmp_nnx *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.JTcomp_idx_3_tmp *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_f4 *

    dx_hand_model_B.t18_h * 4.0F) + dx_hand_model_B.t1254 *

    dx_hand_model_B.Sum_nf * 6.0F) + dx_hand_model_B.tmp_tmp_fd *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.t26_m * dx_hand_model_B.t17_f *

    8.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.Sum_nf * 6.0F)

    + dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.Sum_nf * 6.0F)) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t18_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_cg1 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.xD1_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.t1312 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_be * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_os * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.t819 * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.xD1_tmp_tmp_o * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_a * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_k * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.JTcomp_idx_3_tmp_p * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_kuk * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_jkf * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_f2 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_dy * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_kg * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t26_m * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.t818 * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t817

    * dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.t814 *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ki *

    dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_my *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ooe *

    dx_hand_model_B.t7 * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_j *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.JTcomp_idx_3_tmp_tmp_e *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_ft *

    dx_hand_model_B.Sum_nf * 12.0F) + dx_hand_model_B.tmp_tmp_gd *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_jc *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_cqr *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_egf *

    dx_hand_model_B.Sum_nf * 4.0F) + dx_hand_model_B.tmp_tmp_mxd *

    dx_hand_model_B.t7 * 2.0F) + dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t7

    * 2.0F) + dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t17_f * 4.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t19_e * 4.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t18_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t7 * 6.0F) +

    dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_gi * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_om * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t7 * 2.0F) +

    dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_mid * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_ftf * dx_hand_model_B.Sum_nf * 6.0F) +

    dx_hand_model_B.tmp_tmp_on * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_iz5 * dx_hand_model_B.Sum_nf * 2.0F) +

    dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_o4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_frj * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_ko * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j11 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_axm * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_hi * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_an * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.t8_h * 6.0F) +

    dx_hand_model_B.tmp_tmp_aq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.t8_h * 2.0F) +

    dx_hand_model_B.tmp_tmp_oc * dx_hand_model_B.Sum_nf * 4.0F) +

    dx_hand_model_B.tmp_tmp_hnt * dx_hand_model_B.Sum_nf * 4.0F) +

    dx_hand_model_B.tmp_tmp_jkh * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.t8_h * 8.0F) +

    dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.t8_h * 4.0F)) +

    dx_hand_model_B.tmp_tmp_n0 * dx_hand_model_B.t8_h * 4.0F) +

    dx_hand_model_B.tmp_tmp_izy * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_lgb * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t8_h *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_dr *

    dx_hand_model_B.t11_e) - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t12_o)

    - dx_hand_model_B.t3 * dx_hand_model_B.t8_h * dx_hand_model_B.t13_b * 2.0F)

    - dx_hand_model_B.tmp_tmp_kb * dx_hand_model_B.t14_a) -

    dx_hand_model_B.tmp_tmp_dr * dx_hand_model_B.t15_g) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t11_e * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t15_g * dx_hand_model_B.t18_h) - dx_hand_model_B.t8_h *

    dx_hand_model_B.t12_o * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.t8_h * dx_hand_model_B.t14_a

    * dx_hand_model_B.t18_h) - dx_hand_model_B.tmp_tmp_np *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_a *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t837_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t838_re *

    dx_hand_model_B.t13_b * 2.0F) - dx_hand_model_B.t815 * dx_hand_model_B.t13_b

    * 2.0F) - dx_hand_model_B.tmp_tmp_jp * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_pr * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t11_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_d * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_hzv * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_iq * dx_hand_model_B.t15_g * 2.0F) -

    dx_hand_model_B.tmp_tmp_dn * dx_hand_model_B.t8_h) -

    dx_hand_model_B.tmp_tmp_fc * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_k * dx_hand_model_B.t8_h) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t * dx_hand_model_B.t8_h *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t1251 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t1261 * dx_hand_model_B.t8_h

    * dx_hand_model_B.t19_e) - dx_hand_model_B.t796 * dx_hand_model_B.t8_h) -

    dx_hand_model_B.t770_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t772_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_bf * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t774 * dx_hand_model_B.t8_h) - dx_hand_model_B.tmp_tmp_eh *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_bs *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t1212 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t752 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t17_f) - dx_hand_model_B.t739 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t1328 * dx_hand_model_B.t8_h

    * dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_pn *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_hj *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.t750 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t18_h * 6.0F) - dx_hand_model_B.tmp_tmp_pn *

    dx_hand_model_B.t19_e) - dx_hand_model_B.t754 * dx_hand_model_B.t8_h *

    dx_hand_model_B.t19_e) - dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t17_f *

    6.0F) - dx_hand_model_B.tmp_tmp_pn * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nk * dx_hand_model_B.t19_e * 6.0F) -

    dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t17_f) -

    dx_hand_model_B.t761_re * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    2.0F) - dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_jza * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t19_e) -

    dx_hand_model_B.tmp_tmp_ot * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp_b * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ic * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_f4 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m1 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_h5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_mg * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t26_m * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_gm * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_cx * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t758_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)

    - dx_hand_model_B.t824 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t759_re * dx_hand_model_B.t7 * dx_hand_model_B.t13_b * 6.0F)

    - dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.t826_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_h2 * dx_hand_model_B.t13_b * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t14_a * 2.0F) -

    dx_hand_model_B.tmp_tmp_g4k * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t15_g * 2.0F) -

    dx_hand_model_B.tmp_tmp_bj * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_nm * dx_hand_model_B.t13_b * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t12_o * 2.0F) -

    dx_hand_model_B.tmp_tmp_dx * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t11_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jk * dx_hand_model_B.t16_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.t841_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t12_o * 2.0F) -

    dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_tmp_e * dx_hand_model_B.t16_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ng * dx_hand_model_B.t14_a * 2.0F) -

    dx_hand_model_B.tmp_tmp_gv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_mq * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t9_tmp * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_tmp_j5 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ie * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t18_h * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_tmp_a * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t17_f * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_ch * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_p3 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t19_e * dx_hand_model_B.t20_c *

    2.0F) - dx_hand_model_B.tmp_tmp_er * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_db * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_og * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gb * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_mz * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_otc * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gz * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_jo * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.t785 * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_lm5 * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_fq * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.t785 * dx_hand_model_B.t19_e * 2.0F) - dx_hand_model_B.t785 *

    dx_hand_model_B.t18_h * 2.0F) - dx_hand_model_B.tmp_tmp_i3r *

    dx_hand_model_B.t7 * 2.0F) - dx_hand_model_B.tmp_tmp_ez *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_izd *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.t19_e * 4.0F) - dx_hand_model_B.tmp_tmp_ge *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gbr *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_gb *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.tmp_tmp_gr *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ca *

    dx_hand_model_B.t17_f * 2.0F) - dx_hand_model_B.tmp_tmp_eg *

    dx_hand_model_B.Sum_nf * 6.0F) - dx_hand_model_B.tmp_tmp_kt *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.xD1_tmp_tmp_i *

    dx_hand_model_B.t18_h * 4.0F) - dx_hand_model_B.xD1_tmp_tmp_c *

    dx_hand_model_B.t17_f * 4.0F) - dx_hand_model_B.tmp_tmp_ds *

    dx_hand_model_B.Sum_nf * 2.0F) - dx_hand_model_B.tmp_tmp_tmp_k *

    dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_iy * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_pl * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gr * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ca * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_nh * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.xD1_tmp_tmp_c * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_p5 * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7

    * 2.0F) - dx_hand_model_B.tmp_tmp_f0 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_pd * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_hpt * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_jw * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_pie * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_a0x * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_fto * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ci * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_jkx * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_kbp * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_hj5 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.t987_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.t832_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_j1 * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t822 * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.t768_re * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_dd * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t13_b * 6.0F) -

    dx_hand_model_B.tmp_tmp_nn * dx_hand_model_B.t13_b * 2.0F) -

    dx_hand_model_B.tmp_tmp_oy * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_gg * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ik * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_gs * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_l0 * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_ce * dx_hand_model_B.t20_c * 2.0F) -

    dx_hand_model_B.tmp_tmp_e0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_np5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_j0o * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_lc * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_phi * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_po * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ly * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ld * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_hb * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t833_re * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_cg4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_g0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_el * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3e * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_fni * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_nl2 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_lf * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_e2 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_by * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_avh * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_i2 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_nt * dx_hand_model_B.t7 * 6.0F) -

    dx_hand_model_B.tmp_tmp_nqp * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_dj * dx_hand_model_B.t7 * 6.0F) -

    dx_hand_model_B.tmp_tmp_fxv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_i4x * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_k3 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_b0 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t1254 * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.t842_re * dx_hand_model_B.t8_h * 8.0F) -

    dx_hand_model_B.t1255 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t831_re * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_kq * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.t843_re * dx_hand_model_B.t8_h * 8.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_da * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t833_re * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_c5 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t812 * dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.t813 *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_pw *

    dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_dat *

    dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_el *

    dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_pi *

    dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.t776 * dx_hand_model_B.t8_h *

    4.0F) - dx_hand_model_B.t810 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t808 * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_hs * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_m * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_hc * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t779 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_i * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_li * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.t780 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nlw * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_fj * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_ay * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_d1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_il * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_fn * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_mu * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_jz * dx_hand_model_B.t7 * 4.0F) -

    dx_hand_model_B.tmp_tmp_m4e * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_bn * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_oo * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_gf * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_hm * dx_hand_model_B.t7 * 4.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_dv * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_f1s * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.t987_re * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_ktf * dx_hand_model_B.t18_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nu * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_nh4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t17_f * 2.0F) -

    dx_hand_model_B.tmp_tmp_d4f * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_ky * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_gu * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t19_e * 2.0F) -

    dx_hand_model_B.tmp_tmp_cl * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_jd * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7

    * 2.0F) - dx_hand_model_B.tmp_tmp_chk * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_tmp_m * dx_hand_model_B.Sum_nf * dx_hand_model_B.t7 *

    2.0F) - dx_hand_model_B.tmp_tmp_hw * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_cq * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_iee * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_bjy * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_oq * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_gsm * dx_hand_model_B.Sum_nf * 8.0F) -

    dx_hand_model_B.tmp_tmp_ed * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_in * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_i0 * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_lgo * dx_hand_model_B.Sum_nf * 4.0F) -

    dx_hand_model_B.tmp_tmp_ga * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_is * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_m3r * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_m5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_fa5 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_eu * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_inq * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_a0m * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_ldg * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_aiu * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_dl * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_j4 * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_pe * dx_hand_model_B.Sum_nf * 2.0F) -

    dx_hand_model_B.tmp_tmp_b4 * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_iyd * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_ok * dx_hand_model_B.Sum_nf * 6.0F) -

    dx_hand_model_B.tmp_tmp_pn1 * dx_hand_model_B.t7 * 2.0F) -

    dx_hand_model_B.tmp_tmp_nmz * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ai * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_fnt * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ji5 * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_iv * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ceo * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_n3 * dx_hand_model_B.t8_h * dx_hand_model_B.t18_h *

    8.0F) - dx_hand_model_B.tmp_tmp_mxd * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_of * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_nhy * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_daj * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_jy * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_nnx * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ih * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t17_f * 4.0F) -

    dx_hand_model_B.tmp_tmp_jb * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_f * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.JTcomp_idx_3_tmp_h * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_he * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t19_e * 4.0F) -

    dx_hand_model_B.tmp_tmp_no * dx_hand_model_B.t18_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_a0g * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_hz * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_lua * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_bi * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.xD1_tmp * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_jcs * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ib * dx_hand_model_B.t8_h * 6.0F) -

    dx_hand_model_B.tmp_tmp_bt * dx_hand_model_B.t8_h * 4.0F) -

    dx_hand_model_B.tmp_tmp_jkm * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_ee * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_nq * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_tmp_m * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_p * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.xD1_tmp_f * dx_hand_model_B.t8_h * 2.0F) -

    dx_hand_model_B.tmp_tmp_hm4 * dx_hand_model_B.t8_h * 2.0F) -

                        dx_hand_model_B.tmp_tmp_mi * dx_hand_model_B.t8_h * 6.0F)

                       - dx_hand_model_B.tmp_tmp_c2b * dx_hand_model_B.t8_h *

                       2.0F) - dx_hand_model_B.tmp_tmp_b4z *

                      dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_kuk

                     * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_on

                    * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_jkf

                   * dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_f2 *

                  dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_iz5 *

                 dx_hand_model_B.t8_h * 2.0F) - dx_hand_model_B.tmp_tmp_dy *

                dx_hand_model_B.t8_h * 6.0F) - dx_hand_model_B.tmp_tmp_kg *

               dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_jkh *

              dx_hand_model_B.Sum_nf * 8.0F) - dx_hand_model_B.tmp_tmp_n0 *

             dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_izy *

            dx_hand_model_B.Sum_nf * 4.0F) - dx_hand_model_B.tmp_tmp_ft *

           dx_hand_model_B.t8_h * 8.0F) - dx_hand_model_B.tmp_tmp_oc *

          dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_hnt *

         dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_jc *

        dx_hand_model_B.t8_h * 4.0F) - dx_hand_model_B.tmp_tmp_cqr *

       dx_hand_model_B.t8_h * 4.0F);

  dx_hand_model_B.t12_o = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)

    (dx_hand_model_B.t10_tmp * dx_hand_model_B.t10_tmp * dx_hand_model_B.t24_a -

     dx_hand_model_B.t1212)));

  dx_hand_model_B.t13_b = dx_hand_model_B.ComplextoRealImag_b[2] *

    dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.t14_a = dx_hand_model_B.ComplextoRealImag_b[2] *

    dx_hand_model_B.t3;

  dx_hand_model_B.t15_g = dx_hand_model_B.ComplextoRealImag_b[2] *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.t16_e = dx_hand_model_B.ComplextoRealImag_b[2] *

    dx_hand_model_B.t1313;

  dx_hand_model_B.xD1_tmp_tmp = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.t4_o;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t =

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 * dx_hand_model_B.t1313;

  dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o = dx_hand_model_B.t9_tmp *

    dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F;

  dx_hand_model_B.t11_e = dx_hand_model_B.t9_tmp_n *

    dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F;

  dx_hand_model_B.t1226 = 1.0F / (((((((((((((((((((((-dx_hand_model_B.t749 -

    dx_hand_model_B.t26_tmp_g) + dx_hand_model_B.t13_b) + dx_hand_model_B.t14_a)

    + dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) + dx_hand_model_B.t33_tmp)

    + dx_hand_model_B.t34_tmp) + dx_hand_model_B.tmp_tmp_tmp_o) +

    dx_hand_model_B.tmp_tmp_tmp_py) + dx_hand_model_B.tmp_tmp_tmp_om) +

    dx_hand_model_B.tmp_tmp_tmp_cm) - dx_hand_model_B.xD1_tmp_tmp) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -

    dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e) -

    dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i);

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.ComplextoRealImag1_d[0] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t1251 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t1248 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t1250 = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[0];

  dx_hand_model_B.t1312 = dx_hand_model_B.t763_re *

    dx_hand_model_B.ComplextoRealImag1_d[2];

  dx_hand_model_B.t1248 =

    ((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp *

    dx_hand_model_B.Sum_nf + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t4_o) +

    dx_hand_model_B.t765_re * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.t7) +

    dx_hand_model_B.t1251 * dx_hand_model_B.t4_o) + dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.DataTypeConversion5_n) + dx_hand_model_B.xD1_tmp_o *

    dx_hand_model_B.t3) + dx_hand_model_B.t1251 * dx_hand_model_B.Sum_nf * 2.0F)

    + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313) +

    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t8_h) + dx_hand_model_B.t1248 *

    dx_hand_model_B.t8_h) + dx_hand_model_B.t1250 * dx_hand_model_B.t8_h) +

    dx_hand_model_B.tmp_tmp_jzu) + dx_hand_model_B.t1312 *

    dx_hand_model_B.ComplextoRealImag_b[1]) + dx_hand_model_B.t1309 *

    dx_hand_model_B.ComplextoRealImag_b[2]) + dx_hand_model_B.t33_tmp *

    dx_hand_model_B.ComplextoRealImag_b[0]) + dx_hand_model_B.t34_tmp *

    dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) +

    dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.ComplextoRealImag_b[1]) -

    dx_hand_model_B.t765_re * dx_hand_model_B.Sum_nf) -

                       dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t4_o) -

                      dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.t1313) -

                     dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -

                    dx_hand_model_B.tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) -

                   dx_hand_model_B.t1248 * dx_hand_model_B.t4_o * 2.0F) -

                  dx_hand_model_B.t1248 * dx_hand_model_B.Sum_nf) -

                 dx_hand_model_B.t1251 * dx_hand_model_B.t8_h) -

                dx_hand_model_B.tmp_tmp_tmp_tmp_g *

                dx_hand_model_B.DataTypeConversion5_n) - dx_hand_model_B.t1250 *

               dx_hand_model_B.t3) - dx_hand_model_B.t1250 *

              dx_hand_model_B.t4_o) - dx_hand_model_B.t1250 *

             dx_hand_model_B.t1313) - dx_hand_model_B.t1250 *

            dx_hand_model_B.Sum_nf) - dx_hand_model_B.t1250 * dx_hand_model_B.t7)

          - dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) -

         dx_hand_model_B.tmp_tmp_tmp_j) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f *

        dx_hand_model_B.ComplextoRealImag_b[0]) - dx_hand_model_B.tmp_tmp_tmp_eb

       * dx_hand_model_B.ComplextoRealImag_b[1]) -

      dx_hand_model_B.tmp_tmp_tmp_ok * dx_hand_model_B.ComplextoRealImag1_d[2] *

      dx_hand_model_B.ComplextoRealImag_b[1]) - dx_hand_model_B.t794 *

     dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F) -

    dx_hand_model_B.tmp_tmp_tmp_g * dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t9_l = 1.0F / dx_hand_model_B.t9_l;

  dx_hand_model_B.t1250 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t12_o;

  dx_hand_model_B.t1251 = dx_hand_model_B.t3 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1252 = dx_hand_model_B.t7 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1253 = dx_hand_model_B.t4_o * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1254 = dx_hand_model_B.t1313 * dx_hand_model_B.t12_o;

  dx_hand_model_B.t1255 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t12_o;

  dx_hand_model_B.t27_m = (((((((((dx_hand_model_B.t749 +

    dx_hand_model_B.t26_tmp_g) - dx_hand_model_B.t27_m) + dx_hand_model_B.t28_h)

    + dx_hand_model_B.t29_c) + dx_hand_model_B.t30_k) + dx_hand_model_B.t31_p) -

    dx_hand_model_B.t32_p) - dx_hand_model_B.t33_p) - dx_hand_model_B.t34_a) +

    dx_hand_model_B.ComplextoRealImag1_d[2] * dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t1261 = (real32_T)sqrt((real_T)(real32_T)fabs((real_T)

    (dx_hand_model_B.t27_m * dx_hand_model_B.t27_m * dx_hand_model_B.t24_a +

     -dx_hand_model_B.t1212)));

  dx_hand_model_B.t24_a =

    ((((((((((((((((((((dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.t3 + dx_hand_model_B.ComplextoRealImag_b[0] *

    dx_hand_model_B.t7) + dx_hand_model_B.ComplextoRealImag_b[0] *

                       dx_hand_model_B.t1313) +

                      dx_hand_model_B.ComplextoRealImag_b[0] *

                      dx_hand_model_B.Sum_nf) + dx_hand_model_B.t767_re) +

                    dx_hand_model_B.t1309) + dx_hand_model_B.t794) +

                  dx_hand_model_B.tmp_tmp_tmp_g) +

                 dx_hand_model_B.tmp_tmp_tmp_ok *

                 dx_hand_model_B.ComplextoRealImag_b[1]) +

                dx_hand_model_B.t766_re * dx_hand_model_B.ComplextoRealImag_b[1])

               + dx_hand_model_B.tmp_tmp_tmp_tmp *

               dx_hand_model_B.ComplextoRealImag_b[2]) +

              dx_hand_model_B.tmp_tmp_tmp * dx_hand_model_B.ComplextoRealImag_b

              [2]) - dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

             dx_hand_model_B.t1313) -

            dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 *

            dx_hand_model_B.Sum_nf) - dx_hand_model_B.ComplextoRealImag1_d[0] *

           dx_hand_model_B.t3) - dx_hand_model_B.ComplextoRealImag1_d[0] *

          dx_hand_model_B.t7) - dx_hand_model_B.t763_re *

         dx_hand_model_B.ComplextoRealImag_b[1]) - dx_hand_model_B.t765_re *

        dx_hand_model_B.ComplextoRealImag_b[2]) - dx_hand_model_B.t9_tmp_n *

       dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) - dx_hand_model_B.t9_tmp_d

      * dx_hand_model_B.ComplextoRealImag_b[0] * 2.0F) -

     dx_hand_model_B.tmp_tmp_tmp_o2 * dx_hand_model_B.ComplextoRealImag_b[1]) -

    dx_hand_model_B.tmp_tmp_tmp_tmp_g * dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t1212 = dx_hand_model_B.t9_tmp * dx_hand_model_B.t1261 * 2.0F;

  dx_hand_model_B.t27_m = dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t1261 *

    2.0F;

  dx_hand_model_B.t17_f = dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t1261 *

    2.0F;

  dx_hand_model_B.t1309 = dx_hand_model_B.ComplextoRealImag1_d[1] *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t28_h = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 *

    dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.xD1_tmp_tmp_tmp_tmp = dx_hand_model_B.ComplextoRealImag1_d[2] *

    dx_hand_model_B.ComplextoRealImag_b[1];

  dx_hand_model_B.t8_h =

    (((((((((((((((((((((((((((((((((((((((((dx_hand_model_B.tmp_tmp_tmp_tmp_a *

    dx_hand_model_B.Sum_nf + dx_hand_model_B.t1309 * dx_hand_model_B.t1313) +

    dx_hand_model_B.t764_re * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t4_o) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t1313) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t7) +

    dx_hand_model_B.t1309 * dx_hand_model_B.DataTypeConversion5_n) +

    dx_hand_model_B.t28_h * dx_hand_model_B.t1313) + dx_hand_model_B.t1309 *

    dx_hand_model_B.t3) + dx_hand_model_B.t28_h * dx_hand_model_B.Sum_nf * 2.0F)

    + dx_hand_model_B.t1309 * dx_hand_model_B.t4_o) + dx_hand_model_B.t1309 *

    dx_hand_model_B.Sum_nf) + dx_hand_model_B.tmp_tmp_tmp_p *

    dx_hand_model_B.t8_h) + dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t8_h) +

    dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t8_h) +

    dx_hand_model_B.tmp_tmp_g3) + dx_hand_model_B.t1312 *

    dx_hand_model_B.ComplextoRealImag_b[0]) +

    dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j *

    dx_hand_model_B.ComplextoRealImag_b[2]) + dx_hand_model_B.t33_tmp *

    dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) +

    dx_hand_model_B.tmp_tmp_tmp_c1 * dx_hand_model_B.ComplextoRealImag_b[0]) +

    dx_hand_model_B.t34_tmp * dx_hand_model_B.ComplextoRealImag_b[1]) -

    dx_hand_model_B.t764_re * dx_hand_model_B.Sum_nf) -

    dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t4_o) -

                       dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.t1313) -

                      dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.Sum_nf) -

                     dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.t8_h) -

                    dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.t1313 * 2.0F) -

                   dx_hand_model_B.xD1_tmp_o * dx_hand_model_B.Sum_nf) -

                  dx_hand_model_B.t28_h * dx_hand_model_B.t8_h) -

                 dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.t3) -

                dx_hand_model_B.xD1_tmp_tmp_tmp_tmp *

                dx_hand_model_B.DataTypeConversion5_n) -

               dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t4_o) -

              dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t1313) -

             dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.Sum_nf) -

            dx_hand_model_B.xD1_tmp_tmp_tmp_tmp * dx_hand_model_B.t7) -

           dx_hand_model_B.t1309 * dx_hand_model_B.t8_h) -

          dx_hand_model_B.tmp_tmp_tmp_c) - dx_hand_model_B.tmp_tmp_tmp_b *

         dx_hand_model_B.ComplextoRealImag_b[0]) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m *

        dx_hand_model_B.ComplextoRealImag_b[1]) -

       dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a *

       dx_hand_model_B.ComplextoRealImag_b[2] * 2.0F) - dx_hand_model_B.t766_re *

      dx_hand_model_B.ComplextoRealImag1_d[2] *

      dx_hand_model_B.ComplextoRealImag_b[0]) - dx_hand_model_B.tmp_tmp_tmp_kn *

     dx_hand_model_B.ComplextoRealImag_b[2]) * dx_hand_model_B.t1226;

  dx_hand_model_B.t1309 = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1261;

  dx_hand_model_B.t3 *= dx_hand_model_B.t1261;

  dx_hand_model_B.t28_h = dx_hand_model_B.t7 * dx_hand_model_B.t1261;

  dx_hand_model_B.t1312 = dx_hand_model_B.t4_o * dx_hand_model_B.t1261;

  dx_hand_model_B.t1313 *= dx_hand_model_B.t1261;

  dx_hand_model_B.t1261 *= dx_hand_model_B.Sum_nf;

  dx_hand_model_B.t7 = ((((((((((((((((((((dx_hand_model_B.ComplextoRealImag_b[1]

    * dx_hand_model_B.DataTypeConversion5_n +

    dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.t7) +

    dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.t4_o) +

    dx_hand_model_B.ComplextoRealImag_b[1] * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.t10_j) + dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_j) +

    dx_hand_model_B.JTcomp_idx_3_tmp_tmp_tmp_a) + dx_hand_model_B.tmp_tmp_tmp_kn)

    + dx_hand_model_B.tmp_tmp_tmp_ca) + dx_hand_model_B.tmp_tmp_tmp_ji) +

    dx_hand_model_B.tmp_tmp_tmp_tmp_a * dx_hand_model_B.ComplextoRealImag_b[2])

    + dx_hand_model_B.tmp_tmp_tmp_p * dx_hand_model_B.ComplextoRealImag_b[2]) -

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.t4_o) -

    dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 * dx_hand_model_B.Sum_nf) -

    dx_hand_model_B.ComplextoRealImag1_d[1] *

    dx_hand_model_B.DataTypeConversion5_n) -

    dx_hand_model_B.ComplextoRealImag1_d[1] * dx_hand_model_B.t7) -

    dx_hand_model_B.tmp_tmp_tmp_al) - dx_hand_model_B.t764_re *

    dx_hand_model_B.ComplextoRealImag_b[2]) - dx_hand_model_B.t9_tmp *

    dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) - dx_hand_model_B.t9_tmp_d *

    dx_hand_model_B.ComplextoRealImag_b[1] * 2.0F) -

                        dx_hand_model_B.tmp_tmp_tmp_d) -

    dx_hand_model_B.tmp_tmp_tmp_tmp_gy * dx_hand_model_B.ComplextoRealImag_b[2];

  dx_hand_model_B.t1328 = (((((((((dx_hand_model_B.t25_h - dx_hand_model_B.t1212)

    - dx_hand_model_B.t27_m) - dx_hand_model_B.t17_f) + dx_hand_model_B.t1309) +

    dx_hand_model_B.t3) + dx_hand_model_B.t28_h) + dx_hand_model_B.t1312) +

    dx_hand_model_B.t1313) + dx_hand_model_B.t1261) + dx_hand_model_B.t1256_tmp;

  dx_hand_model_B.TmpSignalConversionAtSFun_c[0] = dx_hand_model_B.t9_l *

    dx_hand_model_B.t1328;

  dx_hand_model_B.DataTypeConversion5_n = ((((((((dx_hand_model_B.t10_tmp +

    dx_hand_model_B.t1212) + dx_hand_model_B.t27_m) + dx_hand_model_B.t17_f) -

    dx_hand_model_B.t1309) - dx_hand_model_B.t3) - dx_hand_model_B.t28_h) -

    dx_hand_model_B.t1312) - dx_hand_model_B.t1313) - dx_hand_model_B.t1261;

  dx_hand_model_B.TmpSignalConversionAtSFun_c[1] =

    dx_hand_model_B.DataTypeConversion5_n * dx_hand_model_B.t9_l;



  /* MATLAB Function: '<S233>/Get Min' */

  dx_hand_model_B.ixstart = 1;

  dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[0];

  dx_hand_model_B.i = 0;

  if (rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[0])) {

    dx_hand_model_B.ix = 2;

    exitg1 = false;

    while ((!exitg1) && (dx_hand_model_B.ix < 3)) {

      dx_hand_model_B.ixstart = 2;

      if (!rtIsNaNF(dx_hand_model_B.TmpSignalConversionAtSFun_c[1])) {

        dx_hand_model_B.t739 = dx_hand_model_B.TmpSignalConversionAtSFun_c[1];

        dx_hand_model_B.i = 1;

        exitg1 = true;

      } else {

        dx_hand_model_B.ix = 3;

      }

    }

  }



  if ((dx_hand_model_B.ixstart < 2) &&

      (dx_hand_model_B.TmpSignalConversionAtSFun_c[1] < dx_hand_model_B.t739)) {

    dx_hand_model_B.i = 1;

  }



  /* MATLAB Function: '<S233>/Find K' */

  dx_hand_model_B.Sum_nf = dx_hand_model_B.t1226 * dx_hand_model_B.t9_l;

  dx_hand_model_B.xD1_tmp_o = dx_hand_model_B.Sum_nf * dx_hand_model_B.t24_a;

  dx_hand_model_B.z_sol_l[0] = dx_hand_model_B.t1248 /

    (((((((((((((((((((((dx_hand_model_B.t13_b + dx_hand_model_B.t14_a) +

    dx_hand_model_B.t15_g) + dx_hand_model_B.t16_e) +

                      dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_f) +

                     dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_m) +

                    dx_hand_model_B.t33_tmp) + dx_hand_model_B.t34_tmp) +

                  dx_hand_model_B.tmp_tmp_tmp_o) +

                 dx_hand_model_B.tmp_tmp_tmp_py) +

                dx_hand_model_B.tmp_tmp_tmp_om) + dx_hand_model_B.tmp_tmp_tmp_cm)

              - dx_hand_model_B.xD1_tmp_tmp) -

             dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_t) -

            dx_hand_model_B.t749) - dx_hand_model_B.t26_tmp_g) -

          dx_hand_model_B.tmp_tmp_tmp_oc) - dx_hand_model_B.tmp_tmp_tmp_ol) -

        dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_o) - dx_hand_model_B.t11_e)

      - dx_hand_model_B.tmp_tmp_tmp_h) - dx_hand_model_B.tmp_tmp_tmp_i) +

    ((((((((((dx_hand_model_B.t25_h + dx_hand_model_B.t1250) +

             dx_hand_model_B.t1251) + dx_hand_model_B.t1252) +

           dx_hand_model_B.t1253) + dx_hand_model_B.t1254) +

         dx_hand_model_B.t1255) + dx_hand_model_B.t1256_tmp) -

       dx_hand_model_B.t9_tmp * dx_hand_model_B.t12_o * 2.0F) -

      dx_hand_model_B.t9_tmp_n * dx_hand_model_B.t12_o * 2.0F) -

     dx_hand_model_B.t9_tmp_d * dx_hand_model_B.t12_o * 2.0F) *

    dx_hand_model_B.xD1_tmp_o;

  dx_hand_model_B.z_sol_l[1] = ((((((((((dx_hand_model_B.t25_h -

    dx_hand_model_B.t1250) - dx_hand_model_B.t1251) - dx_hand_model_B.t1252) -

    dx_hand_model_B.t1253) - dx_hand_model_B.t1254) - dx_hand_model_B.t1255) +

    dx_hand_model_B.t1256_tmp) + dx_hand_model_B.t1212) + dx_hand_model_B.t27_m)

    + dx_hand_model_B.t17_f) * dx_hand_model_B.xD1_tmp_o + dx_hand_model_B.t1226

    * dx_hand_model_B.t1248;

  dx_hand_model_B.t1309 = dx_hand_model_B.Sum_nf * dx_hand_model_B.t7;

  dx_hand_model_B.t8_p[0] = dx_hand_model_B.t1309 * dx_hand_model_B.t1328 +

    dx_hand_model_B.t8_h;

  dx_hand_model_B.t8_p[1] = dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.t1309 + dx_hand_model_B.t8_h;



  /* MATLAB Function: '<S233>/Teorema Coseni' incorporates:

   *  MATLAB Function: '<S233>/Get Min'

   */

  dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.MCP[0] -

    dx_hand_model_B.z_sol_l[dx_hand_model_B.i];

  dx_hand_model_B.t1313 = dx_hand_model_B.MCP[1] -

    dx_hand_model_B.t8_p[dx_hand_model_B.i];

  dx_hand_model_B.Sum_nf = dx_hand_model_B.MCP[2] -

    dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];

  dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 -

    dx_hand_model_B.z_sol_l[dx_hand_model_B.i];

  dx_hand_model_B.t4_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 -

    dx_hand_model_B.t8_p[dx_hand_model_B.i];

  dx_hand_model_B.t7 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 -

    dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];

  dx_hand_model_B.t7 = (dx_hand_model_B.t3 * dx_hand_model_B.t3 +

                        dx_hand_model_B.t4_o * dx_hand_model_B.t4_o) +

    dx_hand_model_B.t7 * dx_hand_model_B.t7;

  dx_hand_model_B.t3 = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0 -

    dx_hand_model_B.MCP[0];

  dx_hand_model_B.t4_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1 -

    dx_hand_model_B.MCP[1];

  dx_hand_model_B.t12_o = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2 -

    dx_hand_model_B.MCP[2];

  dx_hand_model_B.t3 = (dx_hand_model_B.t3 * dx_hand_model_B.t3 +

                        dx_hand_model_B.t4_o * dx_hand_model_B.t4_o) +

    dx_hand_model_B.t12_o * dx_hand_model_B.t12_o;

  dx_hand_model_B.t476.re = ((-((dx_hand_model_B.DataTypeConversion5_n *

    dx_hand_model_B.DataTypeConversion5_n + dx_hand_model_B.t1313 *

    dx_hand_model_B.t1313) + dx_hand_model_B.Sum_nf * dx_hand_model_B.Sum_nf) +

    dx_hand_model_B.t7) + dx_hand_model_B.t3) / ((real32_T)sqrt((real_T)

    (dx_hand_model_B.t7 * dx_hand_model_B.t3)) * 2.0F);

  if (!((real32_T)fabs((real_T)dx_hand_model_B.t476.re) > 1.0F)) {

    dx_hand_model_B.t476.re = (real32_T)acos((real_T)dx_hand_model_B.t476.re);

  } else {

    dx_hand_model_B.t756.re = 1.0F + dx_hand_model_B.t476.re;

    dx_hand_model_B.t756.im = 0.0F;

    dx_hand_model_sqrt_c(&dx_hand_model_B.t756);

    dx_hand_model_B.t476.re = 1.0F - dx_hand_model_B.t476.re;

    dx_hand_model_B.t476.im = 0.0F;

    dx_hand_model_sqrt_c(&dx_hand_model_B.t476);

    if (!((-dx_hand_model_B.t756.im == 0.0F) && (dx_hand_model_B.t476.im == 0.0F)))

    {

      dx_hand_model_B.DataTypeConversion5_n = dx_hand_model_B.t756.re *

        dx_hand_model_B.t476.im + -dx_hand_model_B.t756.im *

        dx_hand_model_B.t476.re;

      if ((!((!rtIsInfF(dx_hand_model_B.DataTypeConversion5_n)) && (!rtIsNaNF

             (dx_hand_model_B.DataTypeConversion5_n)))) && (!rtIsNaNF

           (dx_hand_model_B.t756.re)) && (!rtIsNaNF(-dx_hand_model_B.t756.im)) &&

          (!rtIsNaNF(dx_hand_model_B.t476.re)) && (!rtIsNaNF

           (dx_hand_model_B.t476.im))) {

        dx_hand_model_B.t7 = dx_hand_model_B.t756.re;

        dx_hand_model_B.t12_o = -dx_hand_model_B.t756.im;

        dx_hand_model_rescale_g(&dx_hand_model_B.t7, &dx_hand_model_B.t12_o);

        dx_hand_model_B.t14_a = dx_hand_model_B.t476.re;

        dx_hand_model_B.t15_g = dx_hand_model_B.t476.im;

        dx_hand_model_rescale_g(&dx_hand_model_B.t14_a, &dx_hand_model_B.t15_g);

      }

    }



    dx_hand_model_B.t476.re = 2.0F * dx_hand_model_rt_atan2f_snf

      (dx_hand_model_B.t476.re, dx_hand_model_B.t756.re);

  }



  /* Sum: '<S240>/Sum1' incorporates:

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag5'

   *  MATLAB Function: '<S233>/Teorema Coseni'

   */

  dx_hand_model_B.Sum1_h += 3.14159274F - dx_hand_model_B.t476.re;



  /* Sum: '<S240>/Sum5' incorporates:

   *  ComplexToRealImag: '<S231>/Complex to Real-Imag1'

   *  MATLAB Function: '<S233>/MATLAB Function'

   */

  dx_hand_model_B.Sum_a +=

    dx_hand_model_B.DataTypeConversion2_mj[dx_hand_model_B.k];



  /* Start for MATLABSystem: '<S240>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S240>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_4969.set_parameter((real_T)dx_hand_model_B.Sum_a);



  /* RateTransition: '<S314>/Rate Transition' incorporates:

   *  RateTransition: '<S266>/Rate Transition'

   *  RateTransition: '<S267>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ap =

      dx_hand_model_DW.RateTransition_Buffer0_la;

    dx_hand_model_B.RateTransition_gb =

      dx_hand_model_DW.RateTransition_Buffer0_pq;

    dx_hand_model_B.RateTransition_ko0 =

      dx_hand_model_DW.RateTransition_Buffer0_ky;

  }



  /* End of RateTransition: '<S314>/Rate Transition' */



  /* Sum: '<S240>/Sum' incorporates:

   *  DataTypeConversion: '<S314>/Data Type Conversion1'

   */

  dx_hand_model_B.Sum_a += (real32_T)dx_hand_model_B.RateTransition_ap;



  /* Switch: '<S266>/Switch' incorporates:

   *  Constant: '<S266>/Constant'

   *  DataTypeConversion: '<S266>/Data Type Conversion1'

   *  DataTypeConversion: '<S267>/Data Type Conversion1'

   *  Gain: '<S228>/Gain'

   *  Product: '<S267>/Product'

   */

  if ((real32_T)dx_hand_model_B.RateTransition_gb >

      dx_hand_model_P.Switch_Threshold_le) {

    dx_hand_model_B.Switch = dx_hand_model_P.Gain_Gain *

      dx_hand_model_B.In1_e.Data[0] * (real32_T)

      dx_hand_model_B.RateTransition_ko0;

  } else {

    dx_hand_model_B.Switch = dx_hand_model_P.Constant_Value_mw;

  }



  /* End of Switch: '<S266>/Switch' */



  /* Start for MATLABSystem: '<S268>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S268>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_2966.set_parameter((real_T)dx_hand_model_B.Delay_m[17]);



  /* Start for MATLABSystem: '<S269>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S269>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_3023.set_parameter((real_T)dx_hand_model_B.Delay_m[18]);



  /* Start for MATLABSystem: '<S270>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S270>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_3042.set_parameter((real_T)dx_hand_model_B.Delay_m[19]);



  /* Start for MATLABSystem: '<S271>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S271>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_4262.set_parameter((real_T)dx_hand_model_B.Delay_m[20]);



  /* Start for MATLABSystem: '<S272>/Set Parameter' incorporates:

   *  DataTypeConversion: '<S272>/Data Type Conversion2'

   */

  ParamSet_dx_hand_model_4270.set_parameter((real_T)dx_hand_model_B.Delay_m[21]);



  /* ManualSwitch: '<S239>/Manual Switch3' incorporates:

   *  Constant: '<S239>/Constant3'

   *  Constant: '<S239>/Constant4'

   */

  if (dx_hand_model_P.ManualSwitch3_CurrentSetting == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant4_Value;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant3_Value_m;

  }



  /* End of ManualSwitch: '<S239>/Manual Switch3' */



  /* Outputs for Enabled SubSystem: '<S239>/Subsystem2' incorporates:

   *  EnablePort: '<S310>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* DataTypeConversion: '<S310>/Data Type Conversion1' incorporates:

     *  DataTypeConversion: '<S239>/Data Type Conversion1'

     */

    dx_hand_model_B.DataTypeConversion1_k[0] = (real32_T)

      dx_hand_model_B.ManualSwitch2;

    dx_hand_model_B.DataTypeConversion1_k[1] = dx_hand_model_B.Delay_m[2];



    /* ToFile: '<S310>/To File' */

    if (tid == 0 ) {

      {

        if (!(++dx_hand_model_DW.ToFile_IWORK.Decimation % 1) &&

            (dx_hand_model_DW.ToFile_IWORK.Count * (2 + 1)) + 1 < 100000000 ) {

          FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK.FilePtr;

          if (fp != (NULL)) {

            real_T u[2 + 1];

            dx_hand_model_DW.ToFile_IWORK.Decimation = 0;

            u[0] = (((dx_hand_model_M->Timing.clockTick0+

                      dx_hand_model_M->Timing.clockTickH0* 4294967296.0)) * 0.01);

            u[1] = dx_hand_model_B.DataTypeConversion1_k[0];

            u[2] = dx_hand_model_B.DataTypeConversion1_k[1];

            if (fwrite(u, sizeof(real_T), 2 + 1, fp) != 2 + 1) {

              rtmSetErrorStatus(dx_hand_model_M,

                                "Error writing to MAT-file thumb_force.mat");

              return;

            }



            if (((++dx_hand_model_DW.ToFile_IWORK.Count) * (2 + 1))+1 >=

                100000000) {

              (void)fprintf(stdout,

                            "*** The ToFile block will stop logging data before\n"

                            "    the simulation has ended, because it has reached\n"

                            "    the maximum number of elements (100000000)\n"

                            "    allowed in MAT-file thumb_force.mat.\n");

            }

          }

        }

      }

    }

  }



  /* End of Outputs for SubSystem: '<S239>/Subsystem2' */



  /* ManualSwitch: '<S1>/Manual Switch' incorporates:

   *  Constant: '<S1>/Constant'

   *  Constant: '<S1>/Constant1'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_la == 1) {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant1_Value;

  } else {

    dx_hand_model_B.t4 = dx_hand_model_P.Constant_Value_n;

  }



  /* End of ManualSwitch: '<S1>/Manual Switch' */



  /* Outputs for Enabled SubSystem: '<S1>/Thumb Exo Structure' incorporates:

   *  EnablePort: '<S13>/Enable'

   */

  if (dx_hand_model_B.t4 > 0.0) {

    /* MATLAB Function: '<S227>/F transformation new' incorporates:

     *  DataTypeConversion: '<S227>/Data Type Conversion2'

     */

    dx_hand_model_B.fv1[0] = -dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_n /

      4.05648192E+31F - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;

    dx_hand_model_B.fv1[4] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;

    dx_hand_model_B.fv1[8] = dx_hand_model_B.LDF_tmp;

    dx_hand_model_B.fv1[12] = 11.6672621F;

    dx_hand_model_B.fv1[1] = dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;

    dx_hand_model_B.fv1[5] = (-dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_p /

      8.11296384E+31F - dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_g) -

      8.6595606E-17F;

    dx_hand_model_B.fv1[9] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp;

    dx_hand_model_B.fv1[13] = -1.42882748E-15F;

    dx_hand_model_B.fv1[2] = dx_hand_model_B.rtb_DataTypeConversion5_n_tmp_l;

    dx_hand_model_B.fv1[6] = 0.707106769F - 7.02547E+15F * (real32_T)sin((real_T)

      (real32_T)dx_hand_model_B.ManualSwitch2) / 1.62259277E+32F;

    dx_hand_model_B.fv1[10] = 1.41421354F * (real32_T)sin((real_T)(real32_T)

      dx_hand_model_B.ManualSwitch2) / 2.0F + 4.3297803E-17F;

    dx_hand_model_B.fv1[14] = 11.6672621F;

    dx_hand_model_B.fv1[3] = 0.0F;

    dx_hand_model_B.fv1[7] = 0.0F;

    dx_hand_model_B.fv1[11] = 0.0F;

    dx_hand_model_B.fv1[15] = 1.0F;



    /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:

     *  DataTypeConversion: '<S279>/Data Type Conversion1'

     *  DataTypeConversion: '<S280>/Data Type Conversion1'

     *  DataTypeConversion: '<S281>/Data Type Conversion1'

     */

    dx_hand_model_B.fv0[0] = (real32_T)dx_hand_model_B.RateTransition_nk;

    dx_hand_model_B.fv0[1] = (real32_T)dx_hand_model_B.RateTransition_mpf;

    dx_hand_model_B.fv0[2] = (real32_T)dx_hand_model_B.RateTransition_ko;

    for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 4; dx_hand_model_B.k++) {

      /* MATLAB Function: '<S227>/F transformation new' incorporates:

       *  DataTypeConversion: '<S13>/Data Type Conversion1'

       */

      dx_hand_model_B.t4_o = dx_hand_model_B.fv1[dx_hand_model_B.k + 12] +

        (dx_hand_model_B.fv1[dx_hand_model_B.k + 8] * 0.0F +

         (dx_hand_model_B.fv1[dx_hand_model_B.k + 4] * 0.0F +

          dx_hand_model_B.fv1[dx_hand_model_B.k] * 0.0F));

      dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0 =

        dx_hand_model_B.T_C[dx_hand_model_B.k + 12] +

        (dx_hand_model_B.T_C[dx_hand_model_B.k + 8] * 0.0F +

         (dx_hand_model_B.T_C[dx_hand_model_B.k + 4] * 0.0F +

          dx_hand_model_B.T_C[dx_hand_model_B.k] * 0.0F));

      dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe =

        dx_hand_model_B.T_E[dx_hand_model_B.k + 12] +

        (dx_hand_model_B.T_E[dx_hand_model_B.k + 8] * 0.0F +

         (dx_hand_model_B.T_E[dx_hand_model_B.k + 4] * 0.0F +

          dx_hand_model_B.T_E[dx_hand_model_B.k] * 0.0F));



      /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:

       *  ComplexToRealImag: '<S227>/Complex to Real-Imag'

       *  ComplexToRealImag: '<S227>/Complex to Real-Imag1'

       *  ComplexToRealImag: '<S227>/Complex to Real-Imag2'

       */

      dx_hand_model_B.fv0[dx_hand_model_B.k + 3] = dx_hand_model_B.t4_o;

      dx_hand_model_B.fv0[dx_hand_model_B.k + 7] =

        dx_hand_model_B.rtb_DataTypeConversion5_n_tm_m0;

      dx_hand_model_B.fv0[dx_hand_model_B.k + 11] =

        dx_hand_model_B.Memory_d[dx_hand_model_B.k];

      dx_hand_model_B.fv0[dx_hand_model_B.k + 15] =

        dx_hand_model_B.rtb_DataTypeConversion5_n_tm_pe;

      dx_hand_model_B.fv0[dx_hand_model_B.k + 19] =

        dx_hand_model_B.Switch_i[dx_hand_model_B.k];

      dx_hand_model_B.fv0[dx_hand_model_B.k + 23] =

        dx_hand_model_B.Filt4_c[dx_hand_model_B.k];

    }



    /* DataTypeConversion: '<S13>/Data Type Conversion1' incorporates:

     *  ComplexToRealImag: '<S227>/Complex to Real-Imag10'

     *  ComplexToRealImag: '<S227>/Complex to Real-Imag3'

     *  ComplexToRealImag: '<S227>/Complex to Real-Imag4'

     *  DataTypeConversion: '<S231>/Data Type Conversion1'

     *  DataTypeConversion: '<S282>/Data Type Conversion1'

     *  DataTypeConversion: '<S283>/Data Type Conversion1'

     *  DataTypeConversion: '<S284>/Data Type Conversion1'

     *  DataTypeConversion: '<S285>/Data Type Conversion1'

     *  MATLAB Function: '<S233>/Get Min'

     */

    dx_hand_model_B.fv0[27] = dx_hand_model_B.ComplextoRealImag_b[0];

    dx_hand_model_B.fv0[30] = dx_hand_model_B.ComplextoRealImag1_d[0];

    dx_hand_model_B.fv0[33] = dx_hand_model_B.TmpSignalConversionAtSFun_h[0];

    dx_hand_model_B.fv0[28] = dx_hand_model_B.ComplextoRealImag_b[1];

    dx_hand_model_B.fv0[31] = dx_hand_model_B.ComplextoRealImag1_d[1];

    dx_hand_model_B.fv0[34] = dx_hand_model_B.TmpSignalConversionAtSFun_h[1];

    dx_hand_model_B.fv0[29] = dx_hand_model_B.ComplextoRealImag_b[2];

    dx_hand_model_B.fv0[32] = dx_hand_model_B.ComplextoRealImag1_d[2];

    dx_hand_model_B.fv0[35] = dx_hand_model_B.TmpSignalConversionAtSFun_h[2];

    dx_hand_model_B.fv0[36] = dx_hand_model_B.I[0];

    dx_hand_model_B.fv0[40] = dx_hand_model_B.J[0];

    dx_hand_model_B.fv0[44] = dx_hand_model_B.MCP[0];

    dx_hand_model_B.fv0[37] = dx_hand_model_B.I[1];

    dx_hand_model_B.fv0[41] = dx_hand_model_B.J[1];

    dx_hand_model_B.fv0[45] = dx_hand_model_B.MCP[1];

    dx_hand_model_B.fv0[38] = dx_hand_model_B.I[2];

    dx_hand_model_B.fv0[42] = dx_hand_model_B.J[2];

    dx_hand_model_B.fv0[46] = dx_hand_model_B.MCP[2];

    dx_hand_model_B.fv0[39] = dx_hand_model_B.I[3];

    dx_hand_model_B.fv0[43] = dx_hand_model_B.J[3];

    dx_hand_model_B.fv0[47] = 1.0F;

    dx_hand_model_B.fv0[48] = (real32_T)dx_hand_model_B.rtb_K_idx_0;

    dx_hand_model_B.fv0[51] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_0;

    dx_hand_model_B.fv0[54] = dx_hand_model_B.z_sol_l[dx_hand_model_B.i];

    dx_hand_model_B.fv0[49] = (real32_T)dx_hand_model_B.rtb_K_idx_1;

    dx_hand_model_B.fv0[52] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_1;

    dx_hand_model_B.fv0[55] = dx_hand_model_B.t8_p[dx_hand_model_B.i];

    dx_hand_model_B.fv0[50] = (real32_T)dx_hand_model_B.rtb_K_idx_2;

    dx_hand_model_B.fv0[53] = dx_hand_model_B.rtb_ComplextoRealImag_j_idx_2;

    dx_hand_model_B.fv0[56] =

      dx_hand_model_B.TmpSignalConversionAtSFun_c[dx_hand_model_B.i];

    dx_hand_model_B.fv0[57] = (real32_T)dx_hand_model_B.RateTransition_gi;

    dx_hand_model_B.fv0[58] = (real32_T)dx_hand_model_B.RateTransition_nz;

    dx_hand_model_B.fv0[59] = (real32_T)dx_hand_model_B.RateTransition_jz;

    dx_hand_model_B.fv0[60] = (real32_T)dx_hand_model_B.RateTransition_kl;

    for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 61; dx_hand_model_B.k++) {

      dx_hand_model_B.DataTypeConversion1_i[dx_hand_model_B.k] =

        dx_hand_model_B.fv0[dx_hand_model_B.k];

    }



    /* ToFile: '<S13>/To File' */

    if (tid == 0 ) {

      {

        if (!(++dx_hand_model_DW.ToFile_IWORK_l.Decimation % 1) &&

            (dx_hand_model_DW.ToFile_IWORK_l.Count * (61 + 1)) + 1 < 100000000 )

        {

          FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK_p.FilePtr;

          if (fp != (NULL)) {

            real_T u[61 + 1];

            dx_hand_model_DW.ToFile_IWORK_l.Decimation = 0;

            u[0] = (((dx_hand_model_M->Timing.clockTick0+

                      dx_hand_model_M->Timing.clockTickH0* 4294967296.0)) * 0.01);

            u[1] = dx_hand_model_B.DataTypeConversion1_i[0];

            u[2] = dx_hand_model_B.DataTypeConversion1_i[1];

            u[3] = dx_hand_model_B.DataTypeConversion1_i[2];

            u[4] = dx_hand_model_B.DataTypeConversion1_i[3];

            u[5] = dx_hand_model_B.DataTypeConversion1_i[4];

            u[6] = dx_hand_model_B.DataTypeConversion1_i[5];

            u[7] = dx_hand_model_B.DataTypeConversion1_i[6];

            u[8] = dx_hand_model_B.DataTypeConversion1_i[7];

            u[9] = dx_hand_model_B.DataTypeConversion1_i[8];

            u[10] = dx_hand_model_B.DataTypeConversion1_i[9];

            u[11] = dx_hand_model_B.DataTypeConversion1_i[10];

            u[12] = dx_hand_model_B.DataTypeConversion1_i[11];

            u[13] = dx_hand_model_B.DataTypeConversion1_i[12];

            u[14] = dx_hand_model_B.DataTypeConversion1_i[13];

            u[15] = dx_hand_model_B.DataTypeConversion1_i[14];

            u[16] = dx_hand_model_B.DataTypeConversion1_i[15];

            u[17] = dx_hand_model_B.DataTypeConversion1_i[16];

            u[18] = dx_hand_model_B.DataTypeConversion1_i[17];

            u[19] = dx_hand_model_B.DataTypeConversion1_i[18];

            u[20] = dx_hand_model_B.DataTypeConversion1_i[19];

            u[21] = dx_hand_model_B.DataTypeConversion1_i[20];

            u[22] = dx_hand_model_B.DataTypeConversion1_i[21];

            u[23] = dx_hand_model_B.DataTypeConversion1_i[22];

            u[24] = dx_hand_model_B.DataTypeConversion1_i[23];

            u[25] = dx_hand_model_B.DataTypeConversion1_i[24];

            u[26] = dx_hand_model_B.DataTypeConversion1_i[25];

            u[27] = dx_hand_model_B.DataTypeConversion1_i[26];

            u[28] = dx_hand_model_B.DataTypeConversion1_i[27];

            u[29] = dx_hand_model_B.DataTypeConversion1_i[28];

            u[30] = dx_hand_model_B.DataTypeConversion1_i[29];

            u[31] = dx_hand_model_B.DataTypeConversion1_i[30];

            u[32] = dx_hand_model_B.DataTypeConversion1_i[31];

            u[33] = dx_hand_model_B.DataTypeConversion1_i[32];

            u[34] = dx_hand_model_B.DataTypeConversion1_i[33];

            u[35] = dx_hand_model_B.DataTypeConversion1_i[34];

            u[36] = dx_hand_model_B.DataTypeConversion1_i[35];

            u[37] = dx_hand_model_B.DataTypeConversion1_i[36];

            u[38] = dx_hand_model_B.DataTypeConversion1_i[37];

            u[39] = dx_hand_model_B.DataTypeConversion1_i[38];

            u[40] = dx_hand_model_B.DataTypeConversion1_i[39];

            u[41] = dx_hand_model_B.DataTypeConversion1_i[40];

            u[42] = dx_hand_model_B.DataTypeConversion1_i[41];

            u[43] = dx_hand_model_B.DataTypeConversion1_i[42];

            u[44] = dx_hand_model_B.DataTypeConversion1_i[43];

            u[45] = dx_hand_model_B.DataTypeConversion1_i[44];

            u[46] = dx_hand_model_B.DataTypeConversion1_i[45];

            u[47] = dx_hand_model_B.DataTypeConversion1_i[46];

            u[48] = dx_hand_model_B.DataTypeConversion1_i[47];

            u[49] = dx_hand_model_B.DataTypeConversion1_i[48];

            u[50] = dx_hand_model_B.DataTypeConversion1_i[49];

            u[51] = dx_hand_model_B.DataTypeConversion1_i[50];

            u[52] = dx_hand_model_B.DataTypeConversion1_i[51];

            u[53] = dx_hand_model_B.DataTypeConversion1_i[52];

            u[54] = dx_hand_model_B.DataTypeConversion1_i[53];

            u[55] = dx_hand_model_B.DataTypeConversion1_i[54];

            u[56] = dx_hand_model_B.DataTypeConversion1_i[55];

            u[57] = dx_hand_model_B.DataTypeConversion1_i[56];

            u[58] = dx_hand_model_B.DataTypeConversion1_i[57];

            u[59] = dx_hand_model_B.DataTypeConversion1_i[58];

            u[60] = dx_hand_model_B.DataTypeConversion1_i[59];

            u[61] = dx_hand_model_B.DataTypeConversion1_i[60];

            if (fwrite(u, sizeof(real_T), 61 + 1, fp) != 61 + 1) {

              rtmSetErrorStatus(dx_hand_model_M,

                                "Error writing to MAT-file exo_points.mat");

              return;

            }



            if (((++dx_hand_model_DW.ToFile_IWORK_l.Count) * (61 + 1))+1 >=

                100000000) {

              (void)fprintf(stdout,

                            "*** The ToFile block will stop logging data before\n"

                            "    the simulation has ended, because it has reached\n"

                            "    the maximum number of elements (100000000)\n"

                            "    allowed in MAT-file exo_points.mat.\n");

            }

          }

        }

      }

    }

  }



  /* End of Outputs for SubSystem: '<S1>/Thumb Exo Structure' */



  /* RateTransition: '<S10>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_lw =

      dx_hand_model_DW.RateTransition_Buffer0_ma;

  }



  /* End of RateTransition: '<S10>/Rate Transition' */



  /* MATLAB Function: '<S14>/MATLAB Function - Assign' incorporates:

   *  Constant: '<S15>/Constant'

   */

  dx_hand_model_B.msg_k = dx_hand_model_P.Constant_Value_m;



  /* DataTypeConversion: '<S14>/Data Type  Conversion' incorporates:

   *  DataTypeConversion: '<S215>/Data Type  Conversion'

   */

  dx_hand_model_B.t4_o = (real32_T)floor((real_T)dx_hand_model_B.Delay_m[0]);

  if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {

    dx_hand_model_B.DataTypeConversion5_n = 0.0F;

  } else {

    dx_hand_model_B.DataTypeConversion5_n = (real32_T)fmod((real_T)

      dx_hand_model_B.t4_o, 4.294967296E+9);

  }



  /* MATLAB Function: '<S14>/MATLAB Function - Assign' incorporates:

   *  DataTypeConversion: '<S10>/Data Type Conversion4'

   *  DataTypeConversion: '<S10>/Data Type Conversion5'

   *  DataTypeConversion: '<S14>/Data Type  Conversion'

   *  Gain: '<S273>/Gain  Aggiustato'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In1'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In2'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In3'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In4'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In5'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In6'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate1In7'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In2'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In3'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In4'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In6'

   *  SignalConversion: '<S2>/ConcatBufferAtVector Concatenate2In7'

   *  SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn1'

   *  SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn2'

   *  SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn3'

   *  SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn4'

   *  SignalConversion: '<S2>/ConcatBufferAtVector ConcatenateIn7'

   */

  dx_hand_model_B.msg_k.Header.Seq = dx_hand_model_B.DataTypeConversion5_n <

    0.0F ? (uint32_T)-(int32_T)(uint32_T)-dx_hand_model_B.DataTypeConversion5_n :

    (uint32_T)dx_hand_model_B.DataTypeConversion5_n;

  dx_hand_model_B.msg_k.Header.Stamp = dx_hand_model_B.In1.Header.Stamp;

  dx_hand_model_B.msg_k.Position_SL_Info.CurrentLength = 9U;

  dx_hand_model_B.msg_k.Position[0] = dx_hand_model_B.Saturation3;

  dx_hand_model_B.msg_k.Position[1] = dx_hand_model_B.xH;

  dx_hand_model_B.msg_k.Position[2] = dx_hand_model_B.Saturation2_e;

  dx_hand_model_B.msg_k.Position[3] = dx_hand_model_B.Saturation2_k;

  dx_hand_model_B.msg_k.Position[4] = dx_hand_model_P.GainAggiustato_Gain_np *

    dx_hand_model_B.Delay_m[7];

  dx_hand_model_B.msg_k.Position[5] = (real32_T)

    dx_hand_model_B.RateTransition_lw;

  dx_hand_model_B.msg_k.Position[6] = dx_hand_model_B.Delay_m[26];

  dx_hand_model_B.msg_k.Velocity_SL_Info.CurrentLength = 9U;

  dx_hand_model_B.msg_k.Velocity[0] = (real32_T)dx_hand_model_B.Switch;

  dx_hand_model_B.msg_k.Velocity[1] = dx_hand_model_B.yH;

  dx_hand_model_B.msg_k.Velocity[2] = dx_hand_model_B.Saturation4_f;

  dx_hand_model_B.msg_k.Velocity[3] = dx_hand_model_B.Product_k;

  dx_hand_model_B.msg_k.Velocity[4] = (real32_T)dx_hand_model_B.Switch;

  dx_hand_model_B.msg_k.Velocity[5] = dx_hand_model_B.Delay_m[23];

  dx_hand_model_B.msg_k.Velocity[6] = dx_hand_model_B.Delay_m[22];

  dx_hand_model_B.msg_k.Effort_SL_Info.CurrentLength = 9U;

  dx_hand_model_B.msg_k.Effort[0] = dx_hand_model_B.Delay_m[2];

  dx_hand_model_B.msg_k.Effort[1] = dx_hand_model_B.Delay_m[3];

  dx_hand_model_B.msg_k.Effort[2] = dx_hand_model_B.Delay_m[4];

  dx_hand_model_B.msg_k.Effort[3] = dx_hand_model_B.Delay_m[5];

  dx_hand_model_B.msg_k.Effort[4] = dx_hand_model_B.Delay_m[6];

  dx_hand_model_B.msg_k.Effort[5] = dx_hand_model_B.Delay_m[24];

  dx_hand_model_B.msg_k.Effort[6] = dx_hand_model_B.Delay_m[25];

  dx_hand_model_B.msg_k.Name_SL_Info.CurrentLength = 7U;

  dx_hand_model_B.msg_k.Name[0].Data[0] = 84U;

  dx_hand_model_B.msg_k.Name[0].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[1].Data[0] = 73U;

  dx_hand_model_B.msg_k.Name[1].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[2].Data[0] = 77U;

  dx_hand_model_B.msg_k.Name[2].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[3].Data[0] = 82U;

  dx_hand_model_B.msg_k.Name[3].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[4].Data[0] = 80U;

  dx_hand_model_B.msg_k.Name[4].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[5].Data[0] = 111U;

  dx_hand_model_B.msg_k.Name[5].Data_SL_Info.CurrentLength = 1U;

  dx_hand_model_B.msg_k.Name[6].Data[0] = 111U;

  dx_hand_model_B.msg_k.Name[6].Data_SL_Info.CurrentLength = 1U;



  /* Outputs for Atomic SubSystem: '<S14>/Publish1' */

  /* Start for MATLABSystem: '<S17>/SinkBlock' */

  Pub_dx_hand_model_3422.publish(&dx_hand_model_B.msg_k);



  /* End of Outputs for SubSystem: '<S14>/Publish1' */



  /* Sum: '<S3>/Sum' incorporates:

   *  Constant: '<S3>/Constant'

   *  Constant: '<S3>/Constant1'

   *  Constant: '<S3>/Constant2'

   *  Constant: '<S3>/Constant3'

   *  MATLAB Function: '<S3>/MATLAB Function'

   */

  dx_hand_model_B.Saturation3 = (1.0F - (dx_hand_model_B.Delay_m[12] -

    dx_hand_model_P.Constant1_Value_n1) / (dx_hand_model_P.Constant2_Value_e -

    dx_hand_model_P.Constant1_Value_n1)) * dx_hand_model_P.Constant3_Value_i +

    dx_hand_model_P.Constant_Value_e0;



  /* Saturate: '<S3>/Saturation' */

  if (dx_hand_model_B.Saturation3 > dx_hand_model_P.Saturation_UpperSat_m) {

    dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation_UpperSat_m;

  } else {

    if (dx_hand_model_B.Saturation3 < dx_hand_model_P.Saturation_LowerSat_k) {

      dx_hand_model_B.Saturation3 = dx_hand_model_P.Saturation_LowerSat_k;

    }

  }



  /* End of Saturate: '<S3>/Saturation' */



  /* SignalConversion: '<S10>/TmpSignal ConversionAtDelayInport1' incorporates:

   *  Constant: '<S10>/Constant'

   *  DataTypeConversion: '<S10>/Data Type Conversion4'

   *  DataTypeConversion: '<S10>/Data Type Conversion5'

   */

  dx_hand_model_B.TmpSignalConversionAtDelayI[0] = dx_hand_model_B.Delay_m[0];

  dx_hand_model_B.TmpSignalConversionAtDelayI[1] = (real32_T)

    dx_hand_model_B.RateTransition_lw;

  dx_hand_model_B.TmpSignalConversionAtDelayI[2] = (real32_T)

    dx_hand_model_B.Switch;

  dx_hand_model_B.TmpSignalConversionAtDelayI[3] = dx_hand_model_B.Switch_n;

  dx_hand_model_B.TmpSignalConversionAtDelayI[4] = dx_hand_model_B.yH;

  dx_hand_model_B.TmpSignalConversionAtDelayI[5] = dx_hand_model_B.Saturation4_f;

  dx_hand_model_B.TmpSignalConversionAtDelayI[6] = dx_hand_model_B.Product_k;

  dx_hand_model_B.TmpSignalConversionAtDelayI[7] =

    dx_hand_model_P.Constant_Value_oa;

  dx_hand_model_B.TmpSignalConversionAtDelayI[8] =

    dx_hand_model_P.Constant_Value_oa;

  dx_hand_model_B.TmpSignalConversionAtDelayI[9] = 0.0F;

  dx_hand_model_B.TmpSignalConversionAtDelayI[10] =

    dx_hand_model_P.Constant_Value_oa;

  dx_hand_model_B.TmpSignalConversionAtDelayI[11] =

    dx_hand_model_P.Constant_Value_oa;



  /* RateTransition: '<S10>/Rate Transition1' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition1_e =

      dx_hand_model_DW.RateTransition1_Buffer0_g;

  }



  /* End of RateTransition: '<S10>/Rate Transition1' */



  /* Delay: '<S10>/Delay' incorporates:

   *  DataTypeConversion: '<S10>/Data Type Conversion6'

   */

  if (((real32_T)dx_hand_model_B.RateTransition1_e < 1.0F) || rtIsNaNF((real32_T)

       dx_hand_model_B.RateTransition1_e)) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {

      dx_hand_model_B.Delay[dx_hand_model_B.i] =

        dx_hand_model_B.TmpSignalConversionAtDelayI[dx_hand_model_B.i];

    }

  } else {

    if ((real32_T)dx_hand_model_B.RateTransition1_e > 100.0F) {

      dx_hand_model_B.u0_i = 100U;

    } else {

      if ((real32_T)dx_hand_model_B.RateTransition1_e < 0.0F) {

        dx_hand_model_B.DataTypeConversion5_n = (real32_T)ceil((real_T)(real32_T)

          dx_hand_model_B.RateTransition1_e);

      } else {

        dx_hand_model_B.DataTypeConversion5_n = (real32_T)floor((real_T)

          (real32_T)dx_hand_model_B.RateTransition1_e);

      }



      if (rtIsNaNF(dx_hand_model_B.DataTypeConversion5_n) || rtIsInfF

          (dx_hand_model_B.DataTypeConversion5_n)) {

        dx_hand_model_B.DataTypeConversion5_n = 0.0F;

      } else {

        dx_hand_model_B.DataTypeConversion5_n = (real32_T)fmod((real_T)

          dx_hand_model_B.DataTypeConversion5_n, 4.294967296E+9);

      }



      dx_hand_model_B.u0_i = dx_hand_model_B.DataTypeConversion5_n < 0.0F ?

        (uint32_T)-(int32_T)(uint32_T)-dx_hand_model_B.DataTypeConversion5_n :

        (uint32_T)dx_hand_model_B.DataTypeConversion5_n;

    }



    dx_hand_model_B.i = (int32_T)(100U - dx_hand_model_B.u0_i) * 12;

    for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 12; dx_hand_model_B.k++) {

      dx_hand_model_B.Delay[dx_hand_model_B.k] =

        dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.k + dx_hand_model_B.i];

    }

  }



  /* End of Delay: '<S10>/Delay' */



  /* S-Function (any2byte): '<S10>/Byte Pack' */



  /* Pack: <S10>/Byte Pack */

  (void) memcpy(&dx_hand_model_B.BytePack[0], &dx_hand_model_B.Delay[0],

                48);



  /* DiscreteTransferFcn: '<S216>/Filt 6' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt6 = dx_hand_model_P.Filt6_NumCoef[1] *

      dx_hand_model_DW.Filt6_states;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S221>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_dwi =

      dx_hand_model_DW.RateTransition_Buffer0_m3;

  }



  /* End of RateTransition: '<S221>/Rate Transition' */



  /* Switch: '<S221>/Switch1' incorporates:

   *  Constant: '<S221>/Constant'

   */

  if (dx_hand_model_B.RateTransition_dwi > dx_hand_model_P.Switch1_Threshold) {

    /* Saturate: '<S216>/Saturation' */

    if (dx_hand_model_B.Filt6 > dx_hand_model_P.Saturation_UpperSat) {

      dx_hand_model_B.Filt6 = dx_hand_model_P.Saturation_UpperSat;

    } else {

      if (dx_hand_model_B.Filt6 < dx_hand_model_P.Saturation_LowerSat) {

        dx_hand_model_B.Filt6 = dx_hand_model_P.Saturation_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation' */

  } else {

    dx_hand_model_B.Filt6 = dx_hand_model_P.Constant_Value_nd;

  }



  /* End of Switch: '<S221>/Switch1' */



  /* DiscreteTransferFcn: '<S216>/Filt 5' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt5 = dx_hand_model_P.Filt5_NumCoef[1] *

      dx_hand_model_DW.Filt5_states;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S221>/Switch' incorporates:

   *  Constant: '<S221>/Constant1'

   */

  if (dx_hand_model_B.RateTransition_dwi > dx_hand_model_P.Switch_Threshold) {

    /* Saturate: '<S216>/Saturation1' */

    if (dx_hand_model_B.Filt5 > dx_hand_model_P.Saturation1_UpperSat) {

      dx_hand_model_B.Filt5 = dx_hand_model_P.Saturation1_UpperSat;

    } else {

      if (dx_hand_model_B.Filt5 < dx_hand_model_P.Saturation1_LowerSat_o) {

        dx_hand_model_B.Filt5 = dx_hand_model_P.Saturation1_LowerSat_o;

      }

    }



    /* End of Saturate: '<S216>/Saturation1' */

  } else {

    dx_hand_model_B.Filt5 = dx_hand_model_P.Constant1_Value_b;

  }



  /* End of Switch: '<S221>/Switch' */



  /* DiscreteTransferFcn: '<S216>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt4 = dx_hand_model_P.Filt4_NumCoef_p[1] *

      dx_hand_model_DW.Filt4_states_gz;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S222>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_ec =

      dx_hand_model_DW.RateTransition_Buffer0_ax;

  }



  /* End of RateTransition: '<S222>/Rate Transition' */



  /* Switch: '<S222>/Switch1' incorporates:

   *  Constant: '<S222>/Constant'

   */

  if (dx_hand_model_B.RateTransition_ec > dx_hand_model_P.Switch1_Threshold_g) {

    /* Saturate: '<S216>/Saturation2' */

    if (dx_hand_model_B.Filt4 > dx_hand_model_P.Saturation2_UpperSat_l) {

      dx_hand_model_B.Filt4 = dx_hand_model_P.Saturation2_UpperSat_l;

    } else {

      if (dx_hand_model_B.Filt4 < dx_hand_model_P.Saturation2_LowerSat_c) {

        dx_hand_model_B.Filt4 = dx_hand_model_P.Saturation2_LowerSat_c;

      }

    }



    /* End of Saturate: '<S216>/Saturation2' */

  } else {

    dx_hand_model_B.Filt4 = dx_hand_model_P.Constant_Value_j3;

  }



  /* End of Switch: '<S222>/Switch1' */



  /* DiscreteTransferFcn: '<S216>/Filt 3' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt3 = dx_hand_model_P.Filt3_NumCoef[1] *

      dx_hand_model_DW.Filt3_states;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S222>/Switch' incorporates:

   *  Constant: '<S222>/Constant'

   */

  if (dx_hand_model_B.RateTransition_ec > dx_hand_model_P.Switch_Threshold_b) {

    /* Saturate: '<S216>/Saturation3' */

    if (dx_hand_model_B.Filt3 > dx_hand_model_P.Saturation3_UpperSat) {

      dx_hand_model_B.Filt3 = dx_hand_model_P.Saturation3_UpperSat;

    } else {

      if (dx_hand_model_B.Filt3 < dx_hand_model_P.Saturation3_LowerSat) {

        dx_hand_model_B.Filt3 = dx_hand_model_P.Saturation3_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation3' */

  } else {

    dx_hand_model_B.Filt3 = dx_hand_model_P.Constant_Value_j3;

  }



  /* End of Switch: '<S222>/Switch' */



  /* DiscreteTransferFcn: '<S216>/Filt 2' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt2 = dx_hand_model_P.Filt2_NumCoef[1] *

      dx_hand_model_DW.Filt2_states;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S223>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_lo =

      dx_hand_model_DW.RateTransition_Buffer0_pa;

  }



  /* End of RateTransition: '<S223>/Rate Transition' */



  /* Switch: '<S223>/Switch1' incorporates:

   *  Constant: '<S223>/Constant'

   */

  if (dx_hand_model_B.RateTransition_lo > dx_hand_model_P.Switch1_Threshold_a) {

    /* Saturate: '<S216>/Saturation4' */

    if (dx_hand_model_B.Filt2 > dx_hand_model_P.Saturation4_UpperSat) {

      dx_hand_model_B.Filt2 = dx_hand_model_P.Saturation4_UpperSat;

    } else {

      if (dx_hand_model_B.Filt2 < dx_hand_model_P.Saturation4_LowerSat) {

        dx_hand_model_B.Filt2 = dx_hand_model_P.Saturation4_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation4' */

  } else {

    dx_hand_model_B.Filt2 = dx_hand_model_P.Constant_Value_cs;

  }



  /* End of Switch: '<S223>/Switch1' */



  /* DiscreteTransferFcn: '<S216>/Filt 1' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt1 = dx_hand_model_P.Filt1_NumCoef[1] *

      dx_hand_model_DW.Filt1_states;

    dx_hand_model_B.k++;

  }



  /* Switch: '<S223>/Switch' incorporates:

   *  Constant: '<S223>/Constant'

   */

  if (dx_hand_model_B.RateTransition_lo > dx_hand_model_P.Switch_Threshold_n) {

    /* Saturate: '<S216>/Saturation5' */

    if (dx_hand_model_B.Filt1 > dx_hand_model_P.Saturation5_UpperSat) {

      dx_hand_model_B.Filt1 = dx_hand_model_P.Saturation5_UpperSat;

    } else {

      if (dx_hand_model_B.Filt1 < dx_hand_model_P.Saturation5_LowerSat) {

        dx_hand_model_B.Filt1 = dx_hand_model_P.Saturation5_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation5' */

  } else {

    dx_hand_model_B.Filt1 = dx_hand_model_P.Constant_Value_cs;

  }



  /* End of Switch: '<S223>/Switch' */



  /* RateTransition: '<S224>/Rate Transition' incorporates:

   *  RateTransition: '<S225>/Rate Transition'

   */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_dbs =

      dx_hand_model_DW.RateTransition_Buffer0_kc;

    dx_hand_model_B.RateTransition_j2 =

      dx_hand_model_DW.RateTransition_Buffer0_c2;

  }



  /* End of RateTransition: '<S224>/Rate Transition' */



  /* Switch: '<S224>/Switch1' incorporates:

   *  Constant: '<S224>/Constant'

   */

  if (dx_hand_model_B.RateTransition_dbs > dx_hand_model_P.Switch1_Threshold_d)

  {

    /* Switch: '<S170>/Switch' incorporates:

     *  DataTypeConversion: '<S170>/Data Type Conversion1'

     *  Gain: '<S9>/Gain  Aggiustato'

     *  Gain: '<S9>/Gain1'

     */

    if (!((real32_T)dx_hand_model_B.RateTransition_is >

          dx_hand_model_P.Switch_Threshold_kr)) {

      dx_hand_model_B.Product_f = dx_hand_model_P.GainAggiustato_Gain *

        dx_hand_model_B.Delay_m[10] * dx_hand_model_P.Gain1_Gain_i;

    }



    /* End of Switch: '<S170>/Switch' */



    /* Saturate: '<S216>/Saturation6' */

    if (dx_hand_model_B.Product_f > dx_hand_model_P.Saturation6_UpperSat) {

      dx_hand_model_B.Product_f = dx_hand_model_P.Saturation6_UpperSat;

    } else {

      if (dx_hand_model_B.Product_f < dx_hand_model_P.Saturation6_LowerSat) {

        dx_hand_model_B.Product_f = dx_hand_model_P.Saturation6_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation6' */

  } else {

    dx_hand_model_B.Product_f = dx_hand_model_P.Constant_Value_fp;

  }



  /* End of Switch: '<S224>/Switch1' */



  /* Switch: '<S225>/Switch1' incorporates:

   *  Constant: '<S225>/Constant'

   */

  if (dx_hand_model_B.RateTransition_j2 > dx_hand_model_P.Switch1_Threshold_f) {

    /* Switch: '<S125>/Switch' incorporates:

     *  DataTypeConversion: '<S125>/Data Type Conversion1'

     *  Gain: '<S8>/Gain  Aggiustato'

     *  Gain: '<S8>/Gain1'

     */

    if (!((real32_T)dx_hand_model_B.RateTransition_em >

          dx_hand_model_P.Switch_Threshold_e5)) {

      dx_hand_model_B.LDG = dx_hand_model_P.GainAggiustato_Gain_n *

        dx_hand_model_B.Delay_m[11] * dx_hand_model_P.Gain1_Gain_k;

    }



    /* End of Switch: '<S125>/Switch' */



    /* Saturate: '<S216>/Saturation7' */

    if (dx_hand_model_B.LDG > dx_hand_model_P.Saturation7_UpperSat) {

      dx_hand_model_B.LDG = dx_hand_model_P.Saturation7_UpperSat;

    } else {

      if (dx_hand_model_B.LDG < dx_hand_model_P.Saturation7_LowerSat) {

        dx_hand_model_B.LDG = dx_hand_model_P.Saturation7_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation7' */

  } else {

    dx_hand_model_B.LDG = dx_hand_model_P.Constant_Value_fn;

  }



  /* End of Switch: '<S225>/Switch1' */



  /* DiscreteTransferFcn: '<S216>/Filt 8' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_B.Filt8 = dx_hand_model_P.Filt8_NumCoef[1] *

      dx_hand_model_DW.Filt8_states;

    dx_hand_model_B.k++;

  }



  /* RateTransition: '<S226>/Rate Transition' */

  if (dx_hand_model_M->Timing.RateInteraction.TID0_1) {

    dx_hand_model_B.RateTransition_l2 =

      dx_hand_model_DW.RateTransition_Buffer0_o0;

  }



  /* End of RateTransition: '<S226>/Rate Transition' */



  /* Switch: '<S226>/Switch1' incorporates:

   *  Constant: '<S226>/Constant'

   */

  if (dx_hand_model_B.RateTransition_l2 > dx_hand_model_P.Switch1_Threshold_c) {

    /* Saturate: '<S216>/Saturation8' */

    if (dx_hand_model_B.Filt8 > dx_hand_model_P.Saturation8_UpperSat) {

      dx_hand_model_B.Filt8 = dx_hand_model_P.Saturation8_UpperSat;

    } else {

      if (dx_hand_model_B.Filt8 < dx_hand_model_P.Saturation8_LowerSat) {

        dx_hand_model_B.Filt8 = dx_hand_model_P.Saturation8_LowerSat;

      }

    }



    /* End of Saturate: '<S216>/Saturation8' */

  } else {

    dx_hand_model_B.Filt8 = dx_hand_model_P.Constant_Value_hk;

  }



  /* End of Switch: '<S226>/Switch1' */



  /* MATLAB Function: '<S215>/MATLAB Function - Assign' incorporates:

   *  Constant: '<S217>/Constant'

   */

  dx_hand_model_B.msg_k = dx_hand_model_P.Constant_Value_h;



  /* DataTypeConversion: '<S215>/Data Type  Conversion' */

  if (rtIsNaNF(dx_hand_model_B.t4_o) || rtIsInfF(dx_hand_model_B.t4_o)) {

    dx_hand_model_B.t4_o = 0.0F;

  } else {

    dx_hand_model_B.t4_o = (real32_T)fmod((real_T)dx_hand_model_B.t4_o,

      4.294967296E+9);

  }



  /* MATLAB Function: '<S215>/MATLAB Function - Assign' incorporates:

   *  DataTypeConversion: '<S215>/Data Type  Conversion'

   */

  dx_hand_model_B.msg_k.Header.Seq = dx_hand_model_B.t4_o < 0.0F ? (uint32_T)

    -(int32_T)(uint32_T)-dx_hand_model_B.t4_o : (uint32_T)dx_hand_model_B.t4_o;

  dx_hand_model_B.msg_k.Header.Stamp = dx_hand_model_B.In1.Header.Stamp;

  dx_hand_model_B.msg_k.Position_SL_Info.CurrentLength = 9U;

  dx_hand_model_B.msg_k.Position[0] = dx_hand_model_B.Filt6;

  dx_hand_model_B.msg_k.Position[1] = dx_hand_model_B.Filt5;

  dx_hand_model_B.msg_k.Position[2] = dx_hand_model_B.Filt4;

  dx_hand_model_B.msg_k.Position[3] = dx_hand_model_B.Filt3;

  dx_hand_model_B.msg_k.Position[4] = dx_hand_model_B.Filt2;

  dx_hand_model_B.msg_k.Position[5] = dx_hand_model_B.Filt1;

  dx_hand_model_B.msg_k.Position[6] = dx_hand_model_B.Product_f;

  dx_hand_model_B.msg_k.Position[7] = dx_hand_model_B.LDG;

  dx_hand_model_B.msg_k.Position[8] = dx_hand_model_B.Filt8;

  dx_hand_model_B.msg_k.Velocity_SL_Info.CurrentLength = 9U;

  dx_hand_model_B.msg_k.Effort_SL_Info.CurrentLength = 9U;

  memset(&dx_hand_model_B.msg_k.Velocity[0], 0, 9U * sizeof(real_T));

  memset(&dx_hand_model_B.msg_k.Effort[0], 0, 9U * sizeof(real_T));

  dx_hand_model_B.msg_k.Name_SL_Info.CurrentLength = 9U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 24; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[0].Data[dx_hand_model_B.k] = (uint8_T)

      b_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[0].Data_SL_Info.CurrentLength = 24U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 27; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[1].Data[dx_hand_model_B.k] = (uint8_T)

      c_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[1].Data_SL_Info.CurrentLength = 27U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 30; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[2].Data[dx_hand_model_B.k] = (uint8_T)

      d_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[2].Data_SL_Info.CurrentLength = 30U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 32; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[3].Data[dx_hand_model_B.k] = (uint8_T)

      e_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[3].Data_SL_Info.CurrentLength = 32U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 31; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[4].Data[dx_hand_model_B.k] = (uint8_T)

      f_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[4].Data_SL_Info.CurrentLength = 31U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 33; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[5].Data[dx_hand_model_B.k] = (uint8_T)

      g_0[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[5].Data_SL_Info.CurrentLength = 33U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 22; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[6].Data[dx_hand_model_B.k] = (uint8_T)

      h[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[6].Data_SL_Info.CurrentLength = 22U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 16; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[7].Data[dx_hand_model_B.k] = (uint8_T)

      i[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[7].Data_SL_Info.CurrentLength = 16U;

  for (dx_hand_model_B.k = 0; dx_hand_model_B.k < 24; dx_hand_model_B.k++) {

    dx_hand_model_B.msg_k.Name[8].Data[dx_hand_model_B.k] = (uint8_T)

      j[dx_hand_model_B.k];

  }



  dx_hand_model_B.msg_k.Name[8].Data_SL_Info.CurrentLength = 24U;



  /* Outputs for Atomic SubSystem: '<S215>/Publish1' */

  /* Start for MATLABSystem: '<S219>/SinkBlock' */

  Pub_dx_hand_model_2867.publish(&dx_hand_model_B.msg_k);



  /* End of Outputs for SubSystem: '<S215>/Publish1' */



  /* Update for DiscreteTransferFcn: '<S39>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Switch_n = dx_hand_model_B.J_c[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef[1] *

      dx_hand_model_DW.Filt4_states[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef[0];

    dx_hand_model_DW.Filt4_states[dx_hand_model_B.k] = dx_hand_model_B.Switch_n;

    dx_hand_model_B.k++;

  }



  /* Update for Delay: '<S4>/Delay' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 99) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 27; dx_hand_model_B.i++) {

      dx_hand_model_DW.Delay_DSTATE[dx_hand_model_B.k * 27 + dx_hand_model_B.i] =

        dx_hand_model_DW.Delay_DSTATE[(dx_hand_model_B.k + 1) * 27 +

        dx_hand_model_B.i];

    }



    dx_hand_model_B.k++;

  }



  memcpy(&dx_hand_model_DW.Delay_DSTATE[2673], &dx_hand_model_B.ByteUnpack[0],

         27U * sizeof(real32_T));



  /* Update for UnitDelay: '<S36>/Unit Delay3' incorporates:

   *  MATLAB Function: '<S36>/Jacobian'

   */

  dx_hand_model_DW.UnitDelay3_DSTATE[0] =

    dx_hand_model_B.rtb_TmpSignalConversionAtSFu_da;

  dx_hand_model_DW.UnitDelay3_DSTATE[1] =

    dx_hand_model_B.rtb_TmpSignalConversionAtSFun_a;



  /* Update for UnitDelay: '<S36>/Unit Delay1' incorporates:

   *  MATLAB Function: '<S36>/Jacobian'

   */

  dx_hand_model_DW.UnitDelay1_DSTATE = dx_hand_model_B.JTcomp_idx_3;



  /* Update for Memory: '<S39>/Memory' */

  dx_hand_model_DW.Memory_PreviousInput[0] = dx_hand_model_B.J_c[0];

  dx_hand_model_DW.Memory_PreviousInput[1] = dx_hand_model_B.J_c[1];

  dx_hand_model_DW.Memory_PreviousInput[2] = dx_hand_model_B.J_c[2];

  dx_hand_model_DW.Memory_PreviousInput[3] = dx_hand_model_B.J_c[3];



  /* Update for DiscreteTransferFcn: '<S27>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_p = (dx_hand_model_B.DataTypeConversion2[3] -

      dx_hand_model_P.Filt4_DenCoef_h[1] * dx_hand_model_DW.Filt4_states_p) /

      dx_hand_model_P.Filt4_DenCoef_h[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S26>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_e = (dx_hand_model_B.DataTypeConversion2[2] -

      dx_hand_model_P.Filt4_DenCoef_i[1] * dx_hand_model_DW.Filt4_states_e) /

      dx_hand_model_P.Filt4_DenCoef_i[0];

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S63>/UD' */

  dx_hand_model_DW.UD_DSTATE = dx_hand_model_B.qKN;



  /* Update for UnitDelay: '<S61>/UD' */

  dx_hand_model_DW.UD_DSTATE_e = dx_hand_model_B.LA1N;



  /* Update for UnitDelay: '<S64>/UD' */

  dx_hand_model_DW.UD_DSTATE_h = dx_hand_model_B.LA1K;



  /* Update for UnitDelay: '<S62>/UD' */

  dx_hand_model_DW.UD_DSTATE_d = dx_hand_model_B.LA2K;



  /* Update for DiscreteTransferFcn: '<S84>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_d.J[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_p[1] *

      dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_p[0];

    dx_hand_model_DW.Filt4_states_g[dx_hand_model_B.k] =

      dx_hand_model_B.Switch_n;

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S80>/Unit Delay3' */

  dx_hand_model_DW.UnitDelay3_DSTATE_k[0] =

    dx_hand_model_B.sf_MiddleJacobian_o.q_next[0];

  dx_hand_model_DW.UnitDelay3_DSTATE_k[1] =

    dx_hand_model_B.sf_MiddleJacobian_o.q_next[1];



  /* Update for UnitDelay: '<S80>/Unit Delay1' */

  dx_hand_model_DW.UnitDelay1_DSTATE_e =

    dx_hand_model_B.sf_MiddleJacobian_o.J22_ol;



  /* Update for Memory: '<S84>/Memory' */

  dx_hand_model_DW.Memory_PreviousInput_k[0] = dx_hand_model_B.sf_IsNan_d.J[0];

  dx_hand_model_DW.Memory_PreviousInput_k[1] = dx_hand_model_B.sf_IsNan_d.J[1];

  dx_hand_model_DW.Memory_PreviousInput_k[2] = dx_hand_model_B.sf_IsNan_d.J[2];

  dx_hand_model_DW.Memory_PreviousInput_k[3] = dx_hand_model_B.sf_IsNan_d.J[3];



  /* Update for DiscreteTransferFcn: '<S29>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_n = (dx_hand_model_B.DataTypeConversion2[5] -

      dx_hand_model_P.Filt4_DenCoef_k[1] * dx_hand_model_DW.Filt4_states_n) /

      dx_hand_model_P.Filt4_DenCoef_k[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S28>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_b = (dx_hand_model_B.DataTypeConversion2[4] -

      dx_hand_model_P.Filt4_DenCoef_hx[1] * dx_hand_model_DW.Filt4_states_b) /

      dx_hand_model_P.Filt4_DenCoef_hx[0];

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S113>/UD' */

  dx_hand_model_DW.UD_DSTATE_l = dx_hand_model_B.LBD;



  /* Update for UnitDelay: '<S111>/UD' */

  dx_hand_model_DW.UD_DSTATE_f = dx_hand_model_B.xD;



  /* Update for UnitDelay: '<S114>/UD' */

  dx_hand_model_DW.UD_DSTATE_f0 = dx_hand_model_B.LDF;



  /* Update for UnitDelay: '<S112>/UD' */

  dx_hand_model_DW.UD_DSTATE_dy = dx_hand_model_B.xC;



  /* Update for DiscreteTransferFcn: '<S131>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_i.J[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_a[1] *

      dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_a[0];

    dx_hand_model_DW.Filt4_states_k[dx_hand_model_B.k] =

      dx_hand_model_B.Switch_n;

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S127>/Unit Delay3' */

  dx_hand_model_DW.UnitDelay3_DSTATE_kr[0] =

    dx_hand_model_B.sf_PinkyJacobian_f.q_next[0];

  dx_hand_model_DW.UnitDelay3_DSTATE_kr[1] =

    dx_hand_model_B.sf_PinkyJacobian_f.q_next[1];



  /* Update for UnitDelay: '<S127>/Unit Delay1' */

  dx_hand_model_DW.UnitDelay1_DSTATE_g =

    dx_hand_model_B.sf_PinkyJacobian_f.J22_ol;



  /* Update for Memory: '<S131>/Memory' */

  dx_hand_model_DW.Memory_PreviousInput_kw[0] = dx_hand_model_B.sf_IsNan_i.J[0];

  dx_hand_model_DW.Memory_PreviousInput_kw[1] = dx_hand_model_B.sf_IsNan_i.J[1];

  dx_hand_model_DW.Memory_PreviousInput_kw[2] = dx_hand_model_B.sf_IsNan_i.J[2];

  dx_hand_model_DW.Memory_PreviousInput_kw[3] = dx_hand_model_B.sf_IsNan_i.J[3];



  /* Update for DiscreteTransferFcn: '<S30>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_i = (dx_hand_model_B.DataTypeConversion2[7] -

      dx_hand_model_P.Filt4_DenCoef_an[1] * dx_hand_model_DW.Filt4_states_i) /

      dx_hand_model_P.Filt4_DenCoef_an[0];

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S158>/UD' */

  dx_hand_model_DW.UD_DSTATE_c = dx_hand_model_B.yI;



  /* Update for UnitDelay: '<S156>/UD' */

  dx_hand_model_DW.UD_DSTATE_ld = dx_hand_model_B.LLI;



  /* Update for UnitDelay: '<S159>/UD' */

  dx_hand_model_DW.UD_DSTATE_i = dx_hand_model_B.temp;



  /* Update for UnitDelay: '<S157>/UD' */

  dx_hand_model_DW.UD_DSTATE_a = dx_hand_model_B.xD1;



  /* Update for DiscreteTransferFcn: '<S176>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 4) {

    dx_hand_model_B.Switch_n = dx_hand_model_B.sf_IsNan_l.J[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n -= dx_hand_model_P.Filt4_DenCoef_px[1] *

      dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k];

    dx_hand_model_B.Switch_n /= dx_hand_model_P.Filt4_DenCoef_px[0];

    dx_hand_model_DW.Filt4_states_p3[dx_hand_model_B.k] =

      dx_hand_model_B.Switch_n;

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S172>/Unit Delay3' */

  dx_hand_model_DW.UnitDelay3_DSTATE_a[0] =

    dx_hand_model_B.sf_RingJacobian_e.q_next[0];

  dx_hand_model_DW.UnitDelay3_DSTATE_a[1] =

    dx_hand_model_B.sf_RingJacobian_e.q_next[1];



  /* Update for UnitDelay: '<S172>/Unit Delay1' */

  dx_hand_model_DW.UnitDelay1_DSTATE_i =

    dx_hand_model_B.sf_RingJacobian_e.J22_ol;



  /* Update for Memory: '<S176>/Memory' */

  dx_hand_model_DW.Memory_PreviousInput_b[0] = dx_hand_model_B.sf_IsNan_l.J[0];

  dx_hand_model_DW.Memory_PreviousInput_b[1] = dx_hand_model_B.sf_IsNan_l.J[1];

  dx_hand_model_DW.Memory_PreviousInput_b[2] = dx_hand_model_B.sf_IsNan_l.J[2];

  dx_hand_model_DW.Memory_PreviousInput_b[3] = dx_hand_model_B.sf_IsNan_l.J[3];



  /* Update for DiscreteTransferFcn: '<S31>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_h = (dx_hand_model_B.DataTypeConversion2[6] -

      dx_hand_model_P.Filt4_DenCoef_o[1] * dx_hand_model_DW.Filt4_states_h) /

      dx_hand_model_P.Filt4_DenCoef_o[0];

    dx_hand_model_B.k++;

  }



  /* Update for UnitDelay: '<S203>/UD' */

  dx_hand_model_DW.UD_DSTATE_j = dx_hand_model_B.Saturation3_o;



  /* Update for UnitDelay: '<S201>/UD' */

  dx_hand_model_DW.UD_DSTATE_ds = dx_hand_model_B.TSamp_cb;



  /* Update for UnitDelay: '<S204>/UD' */

  dx_hand_model_DW.UD_DSTATE_m = dx_hand_model_B.TSamp_cm;



  /* Update for UnitDelay: '<S202>/UD' */

  dx_hand_model_DW.UD_DSTATE_k = dx_hand_model_B.TSamp_g;



  /* Update for Memory: '<S243>/Memory' incorporates:

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag2'

   */

  dx_hand_model_DW.Memory_PreviousInput_e[0] =

    dx_hand_model_B.rtb_xH_sol_idx_0_re;



  /* Update for Memory: '<S243>/Memory1' */

  dx_hand_model_DW.Memory1_PreviousInput[0] = dx_hand_model_B.q_dif[0];



  /* Update for Memory: '<S243>/Memory2' incorporates:

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag4'

   */

  dx_hand_model_DW.Memory2_PreviousInput[0] =

    dx_hand_model_B.rtb_zH_sol_idx_0_re;



  /* Update for Memory: '<S243>/Memory' incorporates:

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag2'

   */

  dx_hand_model_DW.Memory_PreviousInput_e[1] =

    dx_hand_model_B.rtb_xH_sol_idx_1_re;



  /* Update for Memory: '<S243>/Memory1' */

  dx_hand_model_DW.Memory1_PreviousInput[1] = dx_hand_model_B.q_dif[1];



  /* Update for Memory: '<S243>/Memory2' incorporates:

   *  ComplexToRealImag: '<S243>/Complex to Real-Imag4'

   */

  dx_hand_model_DW.Memory2_PreviousInput[1] =

    dx_hand_model_B.rtb_zH_sol_idx_1_re;



  /* Update for Delay: '<S10>/Delay' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 99) {

    for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {

      dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.k * 12 + dx_hand_model_B.i]

        = dx_hand_model_DW.Delay_DSTATE_j[(dx_hand_model_B.k + 1) * 12 +

        dx_hand_model_B.i];

    }



    dx_hand_model_B.k++;

  }



  for (dx_hand_model_B.i = 0; dx_hand_model_B.i < 12; dx_hand_model_B.i++) {

    dx_hand_model_DW.Delay_DSTATE_j[dx_hand_model_B.i + 1188] =

      dx_hand_model_B.TmpSignalConversionAtDelayI[dx_hand_model_B.i];

  }



  /* Update for S-Function (sdspToNetwork): '<S10>/UDP Send' */

  sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

  LibUpdate_Network(&dx_hand_model_DW.UDPSend_NetworkLib[0U],

                    &dx_hand_model_B.BytePack[0U], 48);

  if (*sErr != 0) {

    rtmSetErrorStatus(dx_hand_model_M, sErr);

    rtmSetStopRequested(dx_hand_model_M, 1);

  }



  /* End of Update for S-Function (sdspToNetwork): '<S10>/UDP Send' */



  /* Update for DiscreteTransferFcn: '<S216>/Filt 6' incorporates:

   *  ComplexToRealImag: '<S216>/Complex to Real-Imag'

   */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt6_states = (dx_hand_model_B.Sum1_h -

      dx_hand_model_P.Filt6_DenCoef[1] * dx_hand_model_DW.Filt6_states) /

      dx_hand_model_P.Filt6_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 5' incorporates:

   *  ComplexToRealImag: '<S216>/Complex to Real-Imag1'

   */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt5_states = (dx_hand_model_B.Sum_a -

      dx_hand_model_P.Filt5_DenCoef[1] * dx_hand_model_DW.Filt5_states) /

      dx_hand_model_P.Filt5_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 4' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt4_states_gz = (dx_hand_model_B.LKN -

      dx_hand_model_P.Filt4_DenCoef_pv[1] * dx_hand_model_DW.Filt4_states_gz) /

      dx_hand_model_P.Filt4_DenCoef_pv[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 3' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt3_states = (dx_hand_model_B.LKH -

      dx_hand_model_P.Filt3_DenCoef[1] * dx_hand_model_DW.Filt3_states) /

      dx_hand_model_P.Filt3_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 2' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt2_states = (dx_hand_model_B.yD -

      dx_hand_model_P.Filt2_DenCoef[1] * dx_hand_model_DW.Filt2_states) /

      dx_hand_model_P.Filt2_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 1' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt1_states = (dx_hand_model_B.Saturation2 -

      dx_hand_model_P.Filt1_DenCoef[1] * dx_hand_model_DW.Filt1_states) /

      dx_hand_model_P.Filt1_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update for DiscreteTransferFcn: '<S216>/Filt 8' */

  dx_hand_model_B.k = 0;

  while (dx_hand_model_B.k < 1) {

    dx_hand_model_DW.Filt8_states = (dx_hand_model_B.Saturation3 -

      dx_hand_model_P.Filt8_DenCoef[1] * dx_hand_model_DW.Filt8_states) /

      dx_hand_model_P.Filt8_DenCoef[0];

    dx_hand_model_B.k++;

  }



  /* Update absolute time */

  /* The "clockTick0" counts the number of times the code of this task has

   * been executed. The resolution of this integer timer is 0.01, which is the step size

   * of the task. Size of "clockTick0" ensures timer will not overflow during the

   * application lifespan selected.

   * Timer of this task consists of two 32 bit unsigned integers.

   * The two integers represent the low bits Timing.clockTick0 and the high bits

   * Timing.clockTickH0. When the low bit overflows to 0, the high bits increment.

   */

  dx_hand_model_M->Timing.clockTick0++;

  if (!dx_hand_model_M->Timing.clockTick0) {

    dx_hand_model_M->Timing.clockTickH0++;

  }



  /* If subsystem generates rate grouping Output functions,

   * when tid is used in Output function for one rate,

   * all Output functions include tid as a local variable.

   * As result, some Output functions may have unused tid.

   */

  UNUSED_PARAMETER(tid);

}



/* Model step function for TID1 */

void dx_hand_model_step1(void)         /* Sample time: [2.0s, 0.0s] */

{

  int_T tid = 1;

  boolean_T p;

  boolean_T p_0;

  real_T rtb_GetParameter3_o1_n3;

  real_T rtb_GetParameter3_o1_ef;

  real_T rtb_GetParameter3_o1_ei;

  real_T rtb_GetParameter3_o1_nj;

  real_T rtb_GetParameter3_o1_f;

  real_T rtb_GetParameter3_pz;

  real_T rtb_GetParameter3_kg;

  int32_T i;



  /* Start for MATLABSystem: '<S33>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_e2.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_e2.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4854.get_parameter(&rtb_GetParameter3_kg);



  /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */



  /* Start for MATLABSystem: '<S34>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_p3.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_p3.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3562.get_parameter(&rtb_GetParameter3_pz);



  /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */



  /* Start for MATLABSystem: '<S46>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_me.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_me.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3578.get_parameter(&rtb_GetParameter3_o1_f);



  /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */



  /* Start for MATLABSystem: '<S47>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_oe.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_oe.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3588.get_parameter(&rtb_GetParameter3_o1_nj);



  /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */



  /* Start for MATLABSystem: '<S45>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ev.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ev.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2644.get_parameter(&rtb_GetParameter3_o1_ei);



  /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */



  /* Start for MATLABSystem: '<S50>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_m2.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_m2.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2632.get_parameter(&rtb_GetParameter3_o1_ef);



  /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */



  /* Start for MATLABSystem: '<S58>/Get Parameter' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hfj.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hfj.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2613.get_parameter(&dx_hand_model_B.GetParameter3);



  /* Start for MATLABSystem: '<S58>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_jb.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_jb.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2614.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);



  /* Start for MATLABSystem: '<S58>/Get Parameter2' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mh.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mh.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2615.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);



  /* Start for MATLABSystem: '<S58>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_fc.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_fc.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2616.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);



  /* Start for MATLABSystem: '<S58>/Get Parameter4' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ju.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ju.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2617.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);



  /* ManualSwitch: '<S53>/Manual Switch' incorporates:

   *  Constant: '<S59>/Antonio1'

   *  MATLABSystem: '<S58>/Get Parameter'

   *  MATLABSystem: '<S58>/Get Parameter'

   *  MATLABSystem: '<S58>/Get Parameter1'

   *  MATLABSystem: '<S58>/Get Parameter1'

   *  MATLABSystem: '<S58>/Get Parameter2'

   *  MATLABSystem: '<S58>/Get Parameter2'

   *  MATLABSystem: '<S58>/Get Parameter3'

   *  MATLABSystem: '<S58>/Get Parameter3'

   *  MATLABSystem: '<S58>/Get Parameter4'

   *  MATLABSystem: '<S58>/Get Parameter4'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_o == 1) {

    dx_hand_model_B.ManualSwitch_i[0] = dx_hand_model_B.GetParameter3_o1_o1;

    dx_hand_model_B.ManualSwitch_i[1] = dx_hand_model_B.GetParameter3_o1_el;

    dx_hand_model_B.ManualSwitch_i[2] = dx_hand_model_B.GetParameter3;

    dx_hand_model_B.ManualSwitch_i[3] = dx_hand_model_B.GetParameter3_o1_ix;

    dx_hand_model_B.ManualSwitch_i[4] = dx_hand_model_B.GetParameter3_o1_kn;

  } else {

    dx_hand_model_B.ManualSwitch_i[0] = dx_hand_model_P.Antonio1_Value[0];

    dx_hand_model_B.ManualSwitch_i[1] = dx_hand_model_P.Antonio1_Value[1];

    dx_hand_model_B.ManualSwitch_i[2] = dx_hand_model_P.Antonio1_Value[2];

    dx_hand_model_B.ManualSwitch_i[3] = dx_hand_model_P.Antonio1_Value[3];

    dx_hand_model_B.ManualSwitch_i[4] = dx_hand_model_P.Antonio1_Value[4];

  }



  /* End of ManualSwitch: '<S53>/Manual Switch' */



  /* Start for MATLABSystem: '<S66>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_al.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_al.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3323.get_parameter(&rtb_GetParameter3_o1_n3);



  /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */



  /* Start for MATLABSystem: '<S67>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gbp.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gbp.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3464.get_parameter(&dx_hand_model_B.GetParameter3_f);



  /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */



  /* Start for MATLABSystem: '<S68>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_i.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_i.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3474.get_parameter(&dx_hand_model_B.GetParameter3_kk);



  /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */



  /* Start for MATLABSystem: '<S69>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_lye.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_lye.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3283.get_parameter(&dx_hand_model_B.GetParameter3_d);



  /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */



  /* Start for MATLABSystem: '<S70>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gts.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gts.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3296.get_parameter(&dx_hand_model_B.GetParameter3_pn);



  /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */



  /* Start for MATLABSystem: '<S71>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_d4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_d4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3307.get_parameter(&dx_hand_model_B.GetParameter3_az);



  /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */



  /* Start for MATLABSystem: '<S72>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_fo.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_fo.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3314.get_parameter(&dx_hand_model_B.GetParameter3_mq);



  /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */



  /* Start for MATLABSystem: '<S39>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_cc.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_cc.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3238.get_parameter(&dx_hand_model_B.GetParameter3_o1_oa);



  /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */



  /* Start for MATLABSystem: '<S76>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_nd.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_nd.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3391.get_parameter(&dx_hand_model_B.GetParameter3_nx);



  /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */



  /* Start for MATLABSystem: '<S77>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_cm.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_cm.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3398.get_parameter(&dx_hand_model_B.GetParameter3_pi);



  /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */



  /* Start for MATLABSystem: '<S41>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ls.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ls.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3507.get_parameter(&dx_hand_model_B.GetParameter3_a3);



  /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */



  /* Start for MATLABSystem: '<S78>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_p1.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_p1.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4871.get_parameter(&dx_hand_model_B.GetParameter3_cc);



  /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */



  /* Start for MATLABSystem: '<S79>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hg.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hg.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3550.get_parameter(&dx_hand_model_B.GetParameter3_mf);



  /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */



  /* Start for MATLABSystem: '<S92>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_aea.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_aea.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2565.get_parameter(&dx_hand_model_B.GetParameter3_o1_kd);



  /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */



  /* Start for MATLABSystem: '<S102>/Get Parameter' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hu.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hu.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2519.get_parameter(&dx_hand_model_B.GetParameter3);



  /* Start for MATLABSystem: '<S102>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hf.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hf.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2520.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);



  /* Start for MATLABSystem: '<S102>/Get Parameter2' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_n2.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_n2.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2521.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);



  /* Start for MATLABSystem: '<S102>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_e1.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_e1.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2522.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);



  /* Start for MATLABSystem: '<S102>/Get Parameter4' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gg.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gg.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2523.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);



  /* ManualSwitch: '<S97>/Manual Switch' incorporates:

   *  Constant: '<S103>/Antonio'

   *  MATLABSystem: '<S102>/Get Parameter'

   *  MATLABSystem: '<S102>/Get Parameter'

   *  MATLABSystem: '<S102>/Get Parameter1'

   *  MATLABSystem: '<S102>/Get Parameter1'

   *  MATLABSystem: '<S102>/Get Parameter2'

   *  MATLABSystem: '<S102>/Get Parameter2'

   *  MATLABSystem: '<S102>/Get Parameter3'

   *  MATLABSystem: '<S102>/Get Parameter3'

   *  MATLABSystem: '<S102>/Get Parameter4'

   *  MATLABSystem: '<S102>/Get Parameter4'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_jv == 1) {

    dx_hand_model_B.ManualSwitch_a[0] = dx_hand_model_B.GetParameter3_o1_o1;

    dx_hand_model_B.ManualSwitch_a[1] = dx_hand_model_B.GetParameter3_o1_el;

    dx_hand_model_B.ManualSwitch_a[2] = dx_hand_model_B.GetParameter3;

    dx_hand_model_B.ManualSwitch_a[3] = dx_hand_model_B.GetParameter3_o1_ix;

    dx_hand_model_B.ManualSwitch_a[4] = dx_hand_model_B.GetParameter3_o1_kn;

  } else {

    dx_hand_model_B.ManualSwitch_a[0] = dx_hand_model_P.Antonio_Value[0];

    dx_hand_model_B.ManualSwitch_a[1] = dx_hand_model_P.Antonio_Value[1];

    dx_hand_model_B.ManualSwitch_a[2] = dx_hand_model_P.Antonio_Value[2];

    dx_hand_model_B.ManualSwitch_a[3] = dx_hand_model_P.Antonio_Value[3];

    dx_hand_model_B.ManualSwitch_a[4] = dx_hand_model_P.Antonio_Value[4];

  }



  /* End of ManualSwitch: '<S97>/Manual Switch' */



  /* Start for MATLABSystem: '<S108>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ae1.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ae1.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2703.get_parameter(&dx_hand_model_B.GetParameter3_o1_pm);



  /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */



  /* Start for MATLABSystem: '<S109>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pu.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pu.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2713.get_parameter(&dx_hand_model_B.GetParameter3_o1_eh);



  /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */



  /* Start for MATLABSystem: '<S107>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gr.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gr.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2571.get_parameter(&dx_hand_model_B.GetParameter3_o1_hh);



  /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */



  /* Start for MATLABSystem: '<S116>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pi.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pi.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3348.get_parameter(&dx_hand_model_B.GetParameter3_o1_du);



  /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */



  /* Start for MATLABSystem: '<S117>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_k3.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_k3.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3482.get_parameter(&dx_hand_model_B.GetParameter3_ly);



  /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */



  /* Start for MATLABSystem: '<S118>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_lx.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_lx.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3490.get_parameter(&dx_hand_model_B.GetParameter3_ey);



  /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */



  /* Start for MATLABSystem: '<S119>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mw.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mw.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3362.get_parameter(&dx_hand_model_B.GetParameter3_mw);



  /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */



  /* Start for MATLABSystem: '<S120>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_fx.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_fx.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3369.get_parameter(&dx_hand_model_B.GetParameter3_m);



  /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */



  /* Start for MATLABSystem: '<S121>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ha.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ha.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3376.get_parameter(&dx_hand_model_B.GetParameter3_bp);



  /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */



  /* Start for MATLABSystem: '<S122>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ot.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ot.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3383.get_parameter(&dx_hand_model_B.GetParameter3_le);



  /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */



  /* Start for MATLABSystem: '<S84>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_h3.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_h3.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3245.get_parameter(&dx_hand_model_B.GetParameter3_o1_n);



  /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */



  /* Start for MATLABSystem: '<S87>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_bs.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_bs.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3405.get_parameter(&dx_hand_model_B.GetParameter3_cq);



  /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */



  /* Start for MATLABSystem: '<S88>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hxn.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hxn.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3412.get_parameter(&dx_hand_model_B.GetParameter3_es);



  /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */



  /* Start for MATLABSystem: '<S89>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ddh.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ddh.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3498.get_parameter(&dx_hand_model_B.GetParameter3_n4e);



  /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */



  /* Start for MATLABSystem: '<S124>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pp.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pp.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4887.get_parameter(&dx_hand_model_B.GetParameter3_p5);



  /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */



  /* Start for MATLABSystem: '<S125>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ej.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ej.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4895.get_parameter(&dx_hand_model_B.GetParameter3_lo);



  /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */



  /* Start for MATLABSystem: '<S126>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hxt.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hxt.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4579.get_parameter(&dx_hand_model_B.GetParameter3_b5);



  /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */



  /* Start for MATLABSystem: '<S139>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_lmh.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_lmh.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4616.get_parameter(&dx_hand_model_B.GetParameter3_o1_cl);



  /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */



  /* Start for MATLABSystem: '<S146>/Get Parameter' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ee.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ee.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4640.get_parameter(&dx_hand_model_B.GetParameter3);



  /* Start for MATLABSystem: '<S146>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ny.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ny.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4641.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);



  /* Start for MATLABSystem: '<S146>/Get Parameter2' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_jl.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_jl.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4642.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);



  /* Start for MATLABSystem: '<S146>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_bu.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_bu.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4643.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);



  /* Start for MATLABSystem: '<S146>/Get Parameter4' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_dc.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_dc.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4644.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);



  /* ManualSwitch: '<S141>/Manual Switch' incorporates:

   *  Constant: '<S147>/Antonio'

   *  MATLABSystem: '<S146>/Get Parameter'

   *  MATLABSystem: '<S146>/Get Parameter'

   *  MATLABSystem: '<S146>/Get Parameter1'

   *  MATLABSystem: '<S146>/Get Parameter1'

   *  MATLABSystem: '<S146>/Get Parameter2'

   *  MATLABSystem: '<S146>/Get Parameter2'

   *  MATLABSystem: '<S146>/Get Parameter3'

   *  MATLABSystem: '<S146>/Get Parameter3'

   *  MATLABSystem: '<S146>/Get Parameter4'

   *  MATLABSystem: '<S146>/Get Parameter4'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_b == 1) {

    dx_hand_model_B.ManualSwitch_c[0] = dx_hand_model_B.GetParameter3_o1_o1;

    dx_hand_model_B.ManualSwitch_c[1] = dx_hand_model_B.GetParameter3_o1_el;

    dx_hand_model_B.ManualSwitch_c[2] = dx_hand_model_B.GetParameter3;

    dx_hand_model_B.ManualSwitch_c[3] = dx_hand_model_B.GetParameter3_o1_ix;

    dx_hand_model_B.ManualSwitch_c[4] = dx_hand_model_B.GetParameter3_o1_kn;

  } else {

    dx_hand_model_B.ManualSwitch_c[0] = dx_hand_model_P.Antonio_Value_k[0];

    dx_hand_model_B.ManualSwitch_c[1] = dx_hand_model_P.Antonio_Value_k[1];

    dx_hand_model_B.ManualSwitch_c[2] = dx_hand_model_P.Antonio_Value_k[2];

    dx_hand_model_B.ManualSwitch_c[3] = dx_hand_model_P.Antonio_Value_k[3];

    dx_hand_model_B.ManualSwitch_c[4] = dx_hand_model_P.Antonio_Value_k[4];

  }



  /* End of ManualSwitch: '<S141>/Manual Switch' */



  /* Start for MATLABSystem: '<S153>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_lm.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_lm.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4700.get_parameter(&dx_hand_model_B.GetParameter3_o1_pq);



  /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */



  /* Start for MATLABSystem: '<S154>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ov.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ov.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4710.get_parameter(&dx_hand_model_B.GetParameter3_o1_af);



  /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */



  /* Start for MATLABSystem: '<S152>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mz4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mz4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4720.get_parameter(&dx_hand_model_B.GetParameter3_o1_e3);



  /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */



  /* Start for MATLABSystem: '<S161>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_dd.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_dd.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4743.get_parameter(&dx_hand_model_B.GetParameter3_o1_m);



  /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */



  /* Start for MATLABSystem: '<S162>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mz.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mz.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4758.get_parameter(&dx_hand_model_B.GetParameter3_pe);



  /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */



  /* Start for MATLABSystem: '<S163>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ob.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ob.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4766.get_parameter(&dx_hand_model_B.GetParameter3_bz);



  /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */



  /* Start for MATLABSystem: '<S164>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_c4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_c4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4773.get_parameter(&dx_hand_model_B.GetParameter3_pl);



  /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */



  /* Start for MATLABSystem: '<S165>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ae.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ae.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4780.get_parameter(&dx_hand_model_B.GetParameter3_b);



  /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */



  /* Start for MATLABSystem: '<S166>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_e4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_e4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4787.get_parameter(&dx_hand_model_B.GetParameter3_ax);



  /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */



  /* Start for MATLABSystem: '<S167>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_dg.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_dg.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4794.get_parameter(&dx_hand_model_B.GetParameter3_nf);



  /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */



  /* Start for MATLABSystem: '<S131>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_kw.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_kw.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4804.get_parameter(&dx_hand_model_B.GetParameter3_o1_jy);



  /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */



  /* Start for MATLABSystem: '<S134>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hl.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hl.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4815.get_parameter(&dx_hand_model_B.GetParameter3_kq);



  /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */



  /* Start for MATLABSystem: '<S135>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_dy.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_dy.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4822.get_parameter(&dx_hand_model_B.GetParameter3_l);



  /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */



  /* Start for MATLABSystem: '<S136>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gw.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gw.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4829.get_parameter(&dx_hand_model_B.GetParameter3_n4);



  /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */



  /* Start for MATLABSystem: '<S169>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gb.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gb.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4879.get_parameter(&dx_hand_model_B.GetParameter3_c);



  /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */



  /* Start for MATLABSystem: '<S170>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ln.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ln.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4903.get_parameter(&dx_hand_model_B.GetParameter3_k5);



  /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */



  /* Start for MATLABSystem: '<S171>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_a.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_a.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4283.get_parameter(&dx_hand_model_B.GetParameter3_ku);



  /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */



  /* Start for MATLABSystem: '<S184>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ja.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ja.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4319.get_parameter(&dx_hand_model_B.GetParameter3_o1_d);



  /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */



  /* Start for MATLABSystem: '<S191>/Get Parameter' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_he.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_he.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3254.get_parameter(&dx_hand_model_B.GetParameter3);



  /* Start for MATLABSystem: '<S191>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_nc.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_nc.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3255.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);



  /* Start for MATLABSystem: '<S191>/Get Parameter2' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_l4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_l4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3256.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);



  /* Start for MATLABSystem: '<S191>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_fy.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_fy.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3257.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);



  /* Start for MATLABSystem: '<S191>/Get Parameter4' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_od.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_od.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3258.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);



  /* ManualSwitch: '<S186>/Manual Switch' incorporates:

   *  Constant: '<S192>/Antonio'

   *  MATLABSystem: '<S191>/Get Parameter'

   *  MATLABSystem: '<S191>/Get Parameter'

   *  MATLABSystem: '<S191>/Get Parameter1'

   *  MATLABSystem: '<S191>/Get Parameter1'

   *  MATLABSystem: '<S191>/Get Parameter2'

   *  MATLABSystem: '<S191>/Get Parameter2'

   *  MATLABSystem: '<S191>/Get Parameter3'

   *  MATLABSystem: '<S191>/Get Parameter3'

   *  MATLABSystem: '<S191>/Get Parameter4'

   *  MATLABSystem: '<S191>/Get Parameter4'

   */

  if (dx_hand_model_P.ManualSwitch_CurrentSetting_ju == 1) {

    dx_hand_model_B.ManualSwitch_l[0] = dx_hand_model_B.GetParameter3_o1_o1;

    dx_hand_model_B.ManualSwitch_l[1] = dx_hand_model_B.GetParameter3_o1_el;

    dx_hand_model_B.ManualSwitch_l[2] = dx_hand_model_B.GetParameter3;

    dx_hand_model_B.ManualSwitch_l[3] = dx_hand_model_B.GetParameter3_o1_ix;

    dx_hand_model_B.ManualSwitch_l[4] = dx_hand_model_B.GetParameter3_o1_kn;

  } else {

    dx_hand_model_B.ManualSwitch_l[0] = dx_hand_model_P.Antonio_Value_e[0];

    dx_hand_model_B.ManualSwitch_l[1] = dx_hand_model_P.Antonio_Value_e[1];

    dx_hand_model_B.ManualSwitch_l[2] = dx_hand_model_P.Antonio_Value_e[2];

    dx_hand_model_B.ManualSwitch_l[3] = dx_hand_model_P.Antonio_Value_e[3];

    dx_hand_model_B.ManualSwitch_l[4] = dx_hand_model_P.Antonio_Value_e[4];

  }



  /* End of ManualSwitch: '<S186>/Manual Switch' */



  /* Start for MATLABSystem: '<S198>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_oyi.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_oyi.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4414.get_parameter(&dx_hand_model_B.GetParameter3_o1_ix);



  /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */



  /* Start for MATLABSystem: '<S199>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pt.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pt.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4424.get_parameter(&dx_hand_model_B.GetParameter3_o1_el);



  /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */



  /* Start for MATLABSystem: '<S197>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pap.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pap.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4434.get_parameter(&dx_hand_model_B.GetParameter3_o1_o1);



  /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */



  /* Start for MATLABSystem: '<S206>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mm.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mm.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4457.get_parameter(&dx_hand_model_B.GetParameter3_o1_kn);



  /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */



  /* Start for MATLABSystem: '<S207>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hx.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hx.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4472.get_parameter(&dx_hand_model_B.GetParameter3_k);



  /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */



  /* Start for MATLABSystem: '<S208>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_gt.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_gt.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4480.get_parameter(&dx_hand_model_B.GetParameter3_p);



  /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */



  /* Start for MATLABSystem: '<S209>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_oy.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_oy.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4487.get_parameter(&dx_hand_model_B.GetParameter3_a);



  /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */



  /* Start for MATLABSystem: '<S210>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_cy.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_cy.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4494.get_parameter(&dx_hand_model_B.GetParameter3_j1);



  /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */



  /* Start for MATLABSystem: '<S211>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_of.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_of.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4501.get_parameter(&dx_hand_model_B.GetParameter3_e);



  /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */



  /* Start for MATLABSystem: '<S212>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_lu.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_lu.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4508.get_parameter(&dx_hand_model_B.GetParameter3_j);



  /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */



  /* Start for MATLABSystem: '<S176>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_m0.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_m0.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4518.get_parameter(&dx_hand_model_B.GetParameter3_o1_o);



  /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */



  /* Start for MATLABSystem: '<S179>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_hk.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_hk.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4529.get_parameter(&dx_hand_model_B.GetParameter3_i);



  /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */



  /* Start for MATLABSystem: '<S180>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ly.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ly.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4536.get_parameter(&dx_hand_model_B.GetParameter3_o);



  /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */



  /* Start for MATLABSystem: '<S181>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_nr.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_nr.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4543.get_parameter(&dx_hand_model_B.GetParameter3_n);



  /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */



  /* Start for MATLABSystem: '<S314>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_l.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_l.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3810.get_parameter(&dx_hand_model_B.GetParameter3_o1_p);



  /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */



  /* Start for MATLABSystem: '<S315>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3817.get_parameter(&dx_hand_model_B.GetParameter3);



  /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */



  /* Start for MATLABSystem: '<S266>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_d.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_d.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4863.get_parameter(&dx_hand_model_B.GetParameter3);



  /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */



  /* Start for MATLABSystem: '<S267>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_jv.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_jv.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3828.get_parameter(&dx_hand_model_B.GetParameter3_o1_j);



  /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */



  /* Start for MATLABSystem: '<S268>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_mk.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_mk.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2962.get_parameter(&dx_hand_model_B.GetParameter3_o1_i);



  /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */



  /* Start for MATLABSystem: '<S269>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_jc.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_jc.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3019.get_parameter(&dx_hand_model_B.GetParameter3_o1_l3);



  /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */



  /* Start for MATLABSystem: '<S270>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_e.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_e.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3038.get_parameter(&dx_hand_model_B.GetParameter3_o1_ag);



  /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */



  /* Start for MATLABSystem: '<S271>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_b.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_b.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4259.get_parameter(&dx_hand_model_B.GetParameter3_o1_l);



  /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */



  /* Start for MATLABSystem: '<S272>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_g.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_g.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4267.get_parameter(&dx_hand_model_B.GetParameter3_o1_a);



  /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */



  /* Start for MATLABSystem: '<S230>/Get Parameter' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_p.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_p.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3442.get_parameter(&dx_hand_model_B.GetParameter_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter' */



  /* Start for MATLABSystem: '<S230>/Get Parameter2' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_m.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_m.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3444.get_parameter(&dx_hand_model_B.GetParameter2_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */



  /* Start for MATLABSystem: '<S230>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_o.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_o.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3445.get_parameter(&dx_hand_model_B.GetParameter3_o1_e);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */



  /* Start for MATLABSystem: '<S230>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_c.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_c.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3443.get_parameter(&dx_hand_model_B.GetParameter1_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */



  /* Start for MATLABSystem: '<S230>/Get Parameter4' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_j.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_j.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3446.get_parameter(&dx_hand_model_B.GetParameter4_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */



  /* Start for MATLABSystem: '<S230>/Get Parameter5' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_p2.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_p2.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3454.get_parameter(&dx_hand_model_B.GetParameter5_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */



  /* Start for MATLABSystem: '<S230>/Get Parameter6' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_ca.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_ca.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4055.get_parameter(&dx_hand_model_B.GetParameter6_o1);



  /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */



  /* Start for MATLABSystem: '<S4>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_b4.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_b4.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4946.get_parameter(&dx_hand_model_B.GetParameter1_o1_p);



  /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */



  /* Start for MATLABSystem: '<S24>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_l3.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_l3.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_3210.get_parameter(&dx_hand_model_B.GetParameter3_o1_kf);



  /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */



  /* Start for MATLABSystem: '<S10>/Get Parameter1' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_h.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_h.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_4942.get_parameter(&dx_hand_model_B.GetParameter1_o1_e);



  /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */



  /* Start for MATLABSystem: '<S10>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_k.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_k.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2544.get_parameter(&dx_hand_model_B.GetParameter3_o1_h);



  /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */



  /* Start for MATLABSystem: '<S221>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_f.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_f.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2723.get_parameter(&dx_hand_model_B.GetParameter3_o1_g);



  /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */



  /* Start for MATLABSystem: '<S222>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_n.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_n.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2736.get_parameter(&dx_hand_model_B.GetParameter3_o1_pn);



  /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */



  /* Start for MATLABSystem: '<S223>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_cd.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_cd.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2745.get_parameter(&dx_hand_model_B.GetParameter3_o1_k);



  /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */



  /* Start for MATLABSystem: '<S224>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_pa.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_pa.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2754.get_parameter(&dx_hand_model_B.GetParameter3_o1_c);



  /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */



  /* Start for MATLABSystem: '<S225>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_bm.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_bm.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2762.get_parameter(&dx_hand_model_B.GetParameter3_o1_ec);



  /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */



  /* Start for MATLABSystem: '<S226>/Get Parameter3' */

  p = false;

  p_0 = true;

  if (!(dx_hand_model_DW.obj_g1.SampleTime == dx_hand_model_P.update_param)) {

    p_0 = false;

  }



  if (p_0) {

    p = true;

  }



  if (!p) {

    dx_hand_model_DW.obj_g1.SampleTime = dx_hand_model_P.update_param;

  }



  ParamGet_dx_hand_model_2768.get_parameter(&dx_hand_model_B.GetParameter3_o1_lq);



  /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */



  /* Update for RateTransition: '<S33>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0 = rtb_GetParameter3_kg;



  /* Update for RateTransition: '<S39>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_p =

    dx_hand_model_B.GetParameter3_o1_oa;



  /* Update for RateTransition: '<S4>/Rate Transition1' */

  dx_hand_model_DW.RateTransition1_Buffer0 = dx_hand_model_B.GetParameter1_o1_p;



  /* Update for RateTransition: '<S50>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_j = rtb_GetParameter3_o1_ef;



  /* Update for RateTransition: '<S37>/Rate Transition' */

  for (i = 0; i < 5; i++) {

    dx_hand_model_DW.RateTransition_Buffer0_e[i] =

      dx_hand_model_B.ManualSwitch_i[i];

  }



  /* End of Update for RateTransition: '<S37>/Rate Transition' */



  /* Update for RateTransition: '<S69>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_a = dx_hand_model_B.GetParameter3_d;



  /* Update for RateTransition: '<S24>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_l =

    dx_hand_model_B.GetParameter3_o1_kf;



  /* Update for RateTransition: '<S76>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_h = dx_hand_model_B.GetParameter3_nx;



  /* Update for RateTransition: '<S70>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_f = dx_hand_model_B.GetParameter3_pn;



  /* Update for RateTransition: '<S77>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_hi = dx_hand_model_B.GetParameter3_pi;



  /* Update for RateTransition: '<S71>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_eo = dx_hand_model_B.GetParameter3_az;



  /* Update for RateTransition: '<S67>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_k = dx_hand_model_B.GetParameter3_f;



  /* Update for RateTransition: '<S72>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_lg = dx_hand_model_B.GetParameter3_mq;



  /* Update for RateTransition: '<S68>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_d = dx_hand_model_B.GetParameter3_kk;



  /* Update for RateTransition: '<S66>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_fj = rtb_GetParameter3_o1_n3;



  /* Update for RateTransition: '<S34>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_b = rtb_GetParameter3_pz;



  /* Update for RateTransition: '<S47>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_jl = rtb_GetParameter3_o1_nj;



  /* Update for RateTransition: '<S46>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_g = rtb_GetParameter3_o1_f;



  /* Update for RateTransition: '<S45>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kp = rtb_GetParameter3_o1_ei;



  /* Update for RateTransition: '<S41>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_k1 = dx_hand_model_B.GetParameter3_a3;



  /* Update for RateTransition: '<S78>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_m = dx_hand_model_B.GetParameter3_cc;



  /* Update for RateTransition: '<S84>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_c = dx_hand_model_B.GetParameter3_o1_n;



  /* Update for RateTransition: '<S92>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_mu =

    dx_hand_model_B.GetParameter3_o1_kd;



  /* Update for RateTransition: '<S81>/Rate Transition' */

  for (i = 0; i < 5; i++) {

    dx_hand_model_DW.RateTransition_Buffer0_dg[i] =

      dx_hand_model_B.ManualSwitch_a[i];

  }



  /* End of Update for RateTransition: '<S81>/Rate Transition' */



  /* Update for RateTransition: '<S119>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_n = dx_hand_model_B.GetParameter3_mw;



  /* Update for RateTransition: '<S87>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_nl = dx_hand_model_B.GetParameter3_cq;



  /* Update for RateTransition: '<S120>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_az = dx_hand_model_B.GetParameter3_m;



  /* Update for RateTransition: '<S88>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_jv = dx_hand_model_B.GetParameter3_es;



  /* Update for RateTransition: '<S121>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_at = dx_hand_model_B.GetParameter3_bp;



  /* Update for RateTransition: '<S117>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_bq = dx_hand_model_B.GetParameter3_ly;



  /* Update for RateTransition: '<S122>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_i = dx_hand_model_B.GetParameter3_le;



  /* Update for RateTransition: '<S118>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_no = dx_hand_model_B.GetParameter3_ey;



  /* Update for RateTransition: '<S116>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_lh =

    dx_hand_model_B.GetParameter3_o1_du;



  /* Update for RateTransition: '<S79>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ex = dx_hand_model_B.GetParameter3_mf;



  /* Update for RateTransition: '<S109>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_bv =

    dx_hand_model_B.GetParameter3_o1_eh;



  /* Update for RateTransition: '<S108>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_co =

    dx_hand_model_B.GetParameter3_o1_pm;



  /* Update for RateTransition: '<S107>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_py =

    dx_hand_model_B.GetParameter3_o1_hh;



  /* Update for RateTransition: '<S89>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_gb = dx_hand_model_B.GetParameter3_n4e;



  /* Update for RateTransition: '<S124>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_iv = dx_hand_model_B.GetParameter3_p5;



  /* Update for RateTransition: '<S131>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_be =

    dx_hand_model_B.GetParameter3_o1_jy;



  /* Update for RateTransition: '<S139>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_bz =

    dx_hand_model_B.GetParameter3_o1_cl;



  /* Update for RateTransition: '<S128>/Rate Transition' */

  for (i = 0; i < 5; i++) {

    dx_hand_model_DW.RateTransition_Buffer0_k3[i] =

      dx_hand_model_B.ManualSwitch_c[i];

  }



  /* End of Update for RateTransition: '<S128>/Rate Transition' */



  /* Update for RateTransition: '<S164>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_gk = dx_hand_model_B.GetParameter3_pl;



  /* Update for RateTransition: '<S134>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_o = dx_hand_model_B.GetParameter3_kq;



  /* Update for RateTransition: '<S165>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ml = dx_hand_model_B.GetParameter3_b;



  /* Update for RateTransition: '<S135>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_hy = dx_hand_model_B.GetParameter3_l;



  /* Update for RateTransition: '<S166>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_bh = dx_hand_model_B.GetParameter3_ax;



  /* Update for RateTransition: '<S162>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kj = dx_hand_model_B.GetParameter3_pe;



  /* Update for RateTransition: '<S167>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_bl = dx_hand_model_B.GetParameter3_nf;



  /* Update for RateTransition: '<S163>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_hj = dx_hand_model_B.GetParameter3_bz;



  /* Update for RateTransition: '<S161>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_pe =

    dx_hand_model_B.GetParameter3_o1_m;



  /* Update for RateTransition: '<S126>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_li = dx_hand_model_B.GetParameter3_b5;



  /* Update for RateTransition: '<S154>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_e0 =

    dx_hand_model_B.GetParameter3_o1_af;



  /* Update for RateTransition: '<S153>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_h3 =

    dx_hand_model_B.GetParameter3_o1_pq;



  /* Update for RateTransition: '<S152>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kr =

    dx_hand_model_B.GetParameter3_o1_e3;



  /* Update for RateTransition: '<S136>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_mx = dx_hand_model_B.GetParameter3_n4;



  /* Update for RateTransition: '<S125>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_eg = dx_hand_model_B.GetParameter3_lo;



  /* Update for RateTransition: '<S169>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_nv = dx_hand_model_B.GetParameter3_c;



  /* Update for RateTransition: '<S176>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ad =

    dx_hand_model_B.GetParameter3_o1_o;



  /* Update for RateTransition: '<S184>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_or =

    dx_hand_model_B.GetParameter3_o1_d;



  /* Update for RateTransition: '<S173>/Rate Transition' */

  for (i = 0; i < 5; i++) {

    dx_hand_model_DW.RateTransition_Buffer0_pk[i] =

      dx_hand_model_B.ManualSwitch_l[i];

  }



  /* End of Update for RateTransition: '<S173>/Rate Transition' */



  /* Update for RateTransition: '<S209>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_jt = dx_hand_model_B.GetParameter3_a;



  /* Update for RateTransition: '<S179>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_oq = dx_hand_model_B.GetParameter3_i;



  /* Update for RateTransition: '<S210>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_im = dx_hand_model_B.GetParameter3_j1;



  /* Update for RateTransition: '<S180>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ea = dx_hand_model_B.GetParameter3_o;



  /* Update for RateTransition: '<S211>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kpx = dx_hand_model_B.GetParameter3_e;



  /* Update for RateTransition: '<S207>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_pu = dx_hand_model_B.GetParameter3_k;



  /* Update for RateTransition: '<S212>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_fb = dx_hand_model_B.GetParameter3_j;



  /* Update for RateTransition: '<S208>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ox = dx_hand_model_B.GetParameter3_p;



  /* Update for RateTransition: '<S206>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_d5 =

    dx_hand_model_B.GetParameter3_o1_kn;



  /* Update for RateTransition: '<S171>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ns = dx_hand_model_B.GetParameter3_ku;



  /* Update for RateTransition: '<S199>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ap =

    dx_hand_model_B.GetParameter3_o1_el;



  /* Update for RateTransition: '<S198>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_jz =

    dx_hand_model_B.GetParameter3_o1_ix;



  /* Update for RateTransition: '<S197>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_lf =

    dx_hand_model_B.GetParameter3_o1_o1;



  /* Update for RateTransition: '<S181>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_eb = dx_hand_model_B.GetParameter3_n;



  /* Update for RateTransition: '<S170>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_m1 = dx_hand_model_B.GetParameter3_k5;



  /* Update for RateTransition: '<S279>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ly =

    dx_hand_model_B.GetParameter3_o1_e;



  /* Update for RateTransition: '<S280>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_n4 = dx_hand_model_B.GetParameter2_o1;



  /* Update for RateTransition: '<S281>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_gs = dx_hand_model_B.GetParameter_o1;



  /* Update for RateTransition: '<S268>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kx =

    dx_hand_model_B.GetParameter3_o1_i;



  /* Update for RateTransition: '<S269>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_dh =

    dx_hand_model_B.GetParameter3_o1_l3;



  /* Update for RateTransition: '<S270>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_pl =

    dx_hand_model_B.GetParameter3_o1_ag;



  /* Update for RateTransition: '<S271>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ck =

    dx_hand_model_B.GetParameter3_o1_l;



  /* Update for RateTransition: '<S272>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_aw =

    dx_hand_model_B.GetParameter3_o1_a;



  /* Update for RateTransition: '<S282>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_l4 = dx_hand_model_B.GetParameter1_o1;



  /* Update for RateTransition: '<S283>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_eq = dx_hand_model_B.GetParameter4_o1;



  /* Update for RateTransition: '<S285>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_dhx = dx_hand_model_B.GetParameter6_o1;



  /* Update for RateTransition: '<S284>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_of = dx_hand_model_B.GetParameter5_o1;



  /* Update for RateTransition: '<S314>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_la =

    dx_hand_model_B.GetParameter3_o1_p;



  /* Update for RateTransition: '<S266>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_pq = dx_hand_model_B.GetParameter3;



  /* Update for RateTransition: '<S267>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ky =

    dx_hand_model_B.GetParameter3_o1_j;



  /* Update for RateTransition: '<S10>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ma =

    dx_hand_model_B.GetParameter3_o1_h;



  /* Update for RateTransition: '<S10>/Rate Transition1' */

  dx_hand_model_DW.RateTransition1_Buffer0_g =

    dx_hand_model_B.GetParameter1_o1_e;



  /* Update for RateTransition: '<S221>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_m3 =

    dx_hand_model_B.GetParameter3_o1_g;



  /* Update for RateTransition: '<S222>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_ax =

    dx_hand_model_B.GetParameter3_o1_pn;



  /* Update for RateTransition: '<S223>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_pa =

    dx_hand_model_B.GetParameter3_o1_k;



  /* Update for RateTransition: '<S224>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_kc =

    dx_hand_model_B.GetParameter3_o1_c;



  /* Update for RateTransition: '<S225>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_c2 =

    dx_hand_model_B.GetParameter3_o1_ec;



  /* Update for RateTransition: '<S226>/Rate Transition' */

  dx_hand_model_DW.RateTransition_Buffer0_o0 =

    dx_hand_model_B.GetParameter3_o1_lq;



  /* If subsystem generates rate grouping Output functions,

   * when tid is used in Output function for one rate,

   * all Output functions include tid as a local variable.

   * As result, some Output functions may have unused tid.

   */

  UNUSED_PARAMETER(tid);

}



/* Model step wrapper function for compatibility with a static main program */

void dx_hand_model_step(int_T tid)

{

  switch (tid) {

   case 0 :

    dx_hand_model_step0();

    break;



   case 1 :

    dx_hand_model_step1();

    break;



   default :

    break;

  }

}



/* Model initialize function */

void dx_hand_model_initialize(void)

{

  /* Registration code */



  /* initialize non-finites */

  rt_InitInfAndNaN(sizeof(real_T));



  /* initialize real-time model */

  (void) memset((void *)dx_hand_model_M, 0,

                sizeof(RT_MODEL_dx_hand_model_T));



  /* block I/O */

  (void) memset(((void *) &dx_hand_model_B), 0,

                sizeof(B_dx_hand_model_T));



  /* states (dwork) */

  (void) memset((void *)&dx_hand_model_DW, 0,

                sizeof(DW_dx_hand_model_T));



  {

    char_T *sErr;

    int32_T i;

    static const char_T tmp[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x', 'o',

      '/', 's', 'p', 'r', 'e', 'a', 'd', '/', 'e', 'n', 'a', 'b', 'l', 'e' };



    static const char_T tmp_0[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'e', 'n', 'a', 'b', 'l', 'e' };



    static const char_T tmp_1[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'e', 'n', 'a', 'b', 'l', 'e' };



    static const char_T tmp_2[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'e', 'n', 'a', 'b', 'l', 'e'

    };



    static const char_T tmp_3[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'e', 'n', 'a', 'b', 'l', 'e' };



    static const char_T tmp_4[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'e', 'n', 'a', 'b', 'l', 'e' };



    static const char_T tmp_5[31] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',

      't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',

      '_', 't', 'a', 'r', 'g', 'e', 't', 's' };



    static const char_T tmp_6[14] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'o', 'd', 'e' };



    static const char_T tmp_7[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'd', 'e', 'l', 'a', 'y', '_', 'b', 'a', 'c', 'k' };



    static const char_T tmp_8[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n', '/', 'f', 'i', 'l', 't'

    };



    static const char_T tmp_9[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'd', 'e', 'l', 'a', 'y', '_', 'f', 'o', 'r', 'w', 'a', 'r', 'd'

    };



    static const char_T tmp_a[15] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'd', 'e', 'b', 'u', 'g' };



    static const char_T tmp_b[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'l', '_', 'd', 'i', 's', 't' };



    static const char_T tmp_c[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 's', '2' };



    static const char_T tmp_d[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'l', '_', 'm', 'e', 't', 'a' };



    static const char_T tmp_e[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 's', '1' };



    static const char_T tmp_f[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'x' };



    static const char_T tmp_g[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'y' };



    static const char_T tmp_h[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'C', 'M', 'C', 'z' };



    static const char_T tmp_i[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't', '5' };



    static const char_T tmp_j[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't', '5' };



    static const char_T tmp_k[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't', '4' };



    static const char_T tmp_l[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't', '4' };



    static const char_T tmp_m[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't', '3' };



    static const char_T tmp_n[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't', '3' };



    static const char_T tmp_o[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't', '2' };



    static const char_T tmp_p[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't', '2' };



    static const char_T tmp_q[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't', '1' };



    static const char_T tmp_r[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't', '1' };



    static const char_T tmp_s[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'g', 'a', 'i', 'n', '/', 'g', '1'

    };



    static const char_T tmp_t[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',

      'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };



    static const char_T tmp_u[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',

      'f', 'l', 'e', 'x' };



    static const char_T tmp_v[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',

      'o', 'p', 'p' };



    static const char_T tmp_w[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 't', 'h', 'u', 'm', 'b', '/', 'o', 'f', 'f', 's', 'e', 't', '/',

      'g', 'e', 't', '_', 'o', 'p', 'p' };



    static const char_T tmp_x[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 's', 'a',

      't', 'u', 'r', 'a', 't', 'o', 'r' };



    static const char_T tmp_y[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 's', 'c', 'h', 'u', 'n', 'k', '_', 'g',

      'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };



    static const char_T tmp_z[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 's', 'c', 'h', 'u', 'n', 'k', '_', 'g',

      'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_10[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'j', '_', 'f' };



    static const char_T tmp_11[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'k', 'd', '_', 'd' };



    static const char_T tmp_12[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'k', 'd', '_', 'p' };



    static const char_T tmp_13[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'k', 'p', '_', 'd' };



    static const char_T tmp_14[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'k', 'p', '_', 'p' };



    static const char_T tmp_15[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_16[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_17[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'p', 'o', 's', 'i', 't', 'i', 'o', 'n',

      '/', 'o', 'p', 't', 'i', 'm' };



    static const char_T tmp_18[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 'j', 'a',

      'c', 'o', 'b', 'i', 'a', 'n' };



    static const char_T tmp_19[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'f', '_', 'g', 'a', 'i', 'n', 's', '/',

      'p', 'r', 'o', 'x' };



    static const char_T tmp_1a[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'f', '_', 'g', 'a', 'i', 'n', 's', '/',

      'd', 'i', 's', 't' };



    static const char_T tmp_1b[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'a' };



    static const char_T tmp_1c[16] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 's' };



    static const char_T tmp_1d[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'l', 'e', 'n', 'g', 't', 'h' };



    static const char_T tmp_1e[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'y' };



    static const char_T tmp_1f[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'o', 'f', 'f', 'x' };



    static const char_T tmp_1g[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a', 't',

      'i', 'o', 'n', '/', 's', 'e', 't' };



    static const char_T tmp_1h[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a', 't',

      'i', 'o', 'n', '/', 'g', 'e', 't' };



    static const char_T tmp_1i[25] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 't', 'y',

      'p', 'e' };



    static const char_T tmp_1j[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 't', 'h',

      'e', 'o', 'r' };



    static const char_T tmp_1k[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'r', 'i', 'n', 'g', '/', 'm', 'o', 'd', 'e', 's', '/', 'f', 'f',

      '_', 'a', 'c', 't', 'i', 'v', 'e' };



    static const char_T tmp_1l[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 's',

      'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };



    static const char_T tmp_1m[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',

      'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };



    static const char_T tmp_1n[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',

      'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_1o[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'j', '_', 'f' };



    static const char_T tmp_1p[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'd', '_', 'd' };



    static const char_T tmp_1q[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'd', '_', 'p' };



    static const char_T tmp_1r[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'p', '_', 'd' };



    static const char_T tmp_1s[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'p', '_', 'p' };



    static const char_T tmp_1t[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_1u[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_1v[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'o', 'p', 't', 'i', 'm' };



    static const char_T tmp_1w[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 'j',

      'a', 'c', 'o', 'b', 'i', 'a', 'n' };



    static const char_T tmp_1x[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',

      '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_1y[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',

      '/', 'd', 'i', 's', 't' };



    static const char_T tmp_1z[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'a' };



    static const char_T tmp_20[17] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 's' };



    static const char_T tmp_21[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'l', 'e', 'n', 'g', 't', 'h' };



    static const char_T tmp_22[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'y' };



    static const char_T tmp_23[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'o', 'f', 'f', 'x' };



    static const char_T tmp_24[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't' };



    static const char_T tmp_25[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't' };



    static const char_T tmp_26[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 't',

      'y', 'p', 'e' };



    static const char_T tmp_27[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 't',

      'h', 'e', 'o', 'r' };



    static const char_T tmp_28[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'p', 'i', 'n', 'k', 'y', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',

      'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };



    static const char_T tmp_29[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',

      's', 'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };



    static const char_T tmp_2a[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's', 'c', 'h', 'u', 'n', 'k',

      '_', 'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };



    static const char_T tmp_2b[34] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's', 'c', 'h', 'u', 'n', 'k',

      '_', 'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_2c[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'j', '_', 'f' };



    static const char_T tmp_2d[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'k', 'd', '_', 'd' };



    static const char_T tmp_2e[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'k', 'd', '_', 'p' };



    static const char_T tmp_2f[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'k', 'p', '_', 'd' };



    static const char_T tmp_2g[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'k', 'p', '_', 'p' };



    static const char_T tmp_2h[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_2i[37] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_2j[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'p', 'o', 's', 'i', 't', 'i',

      'o', 'n', '/', 'o', 'p', 't', 'i', 'm' };



    static const char_T tmp_2k[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',

      'j', 'a', 'c', 'o', 'b', 'i', 'a', 'n' };



    static const char_T tmp_2l[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'f', '_', 'g', 'a', 'i', 'n',

      's', '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_2m[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'f', '_', 'g', 'a', 'i', 'n',

      's', '/', 'd', 'i', 's', 't' };



    static const char_T tmp_2n[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'a' };



    static const char_T tmp_2o[18] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 's' };



    static const char_T tmp_2p[23] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'l', 'e', 'n', 'g', 't', 'h'

    };



    static const char_T tmp_2q[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'y' };



    static const char_T tmp_2r[21] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'o', 'f', 'f', 'x' };



    static const char_T tmp_2s[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'c', 'a', 'l', 'i', 'b', 'r',

      'a', 't', 'i', 'o', 'n', '/', 's', 'e', 't' };



    static const char_T tmp_2t[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'c', 'a', 'l', 'i', 'b', 'r',

      'a', 't', 'i', 'o', 'n', '/', 'g', 'e', 't' };



    static const char_T tmp_2u[27] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',

      't', 'y', 'p', 'e' };



    static const char_T tmp_2v[32] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'm', 'i', 'd', 'd', 'l', 'e', '/', 'm', 'o', 'd', 'e', 's', '/',

      'f', 'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };



    static const char_T tmp_2w[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 's',

      'a', 't', 'u', 'r', 'a', 't', 'o', 'r' };



    static const char_T tmp_2x[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',

      'g', 'a', 'i', 'n', 's', '/', 'd', 'i', 's', 't' };



    static const char_T tmp_2y[33] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's', 'c', 'h', 'u', 'n', 'k', '_',

      'g', 'a', 'i', 'n', 's', '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_2z[19] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'j', '_', 'f' };



    static const char_T tmp_30[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'd', '_', 'd' };



    static const char_T tmp_31[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'd', '_', 'p' };



    static const char_T tmp_32[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'p', '_', 'd' };



    static const char_T tmp_33[29] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'k', 'p', '_', 'p' };



    static const char_T tmp_34[35] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'd', 'i', 's', 't', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_35[36] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'p', 'r', 'o', 'x', 'i', '_', 'd', '_', 'a', 'c', 't' };



    static const char_T tmp_36[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'p', 'o', 's', 'i', 't', 'i', 'o',

      'n', '/', 'o', 'p', 't', 'i', 'm' };



    static const char_T tmp_37[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'a' };



    static const char_T tmp_38[17] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 's' };



    static const char_T tmp_39[22] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'l', 'e', 'n', 'g', 't', 'h' };



    static const char_T tmp_3a[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'y' };



    static const char_T tmp_3b[20] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'o', 'f', 'f', 'x' };



    static const char_T tmp_3c[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 's', 'e', 't' };



    static const char_T tmp_3d[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'c', 'a', 'l', 'i', 'b', 'r', 'a',

      't', 'i', 'o', 'n', '/', 'g', 'e', 't' };



    static const char_T tmp_3e[30] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 'j',

      'a', 'c', 'o', 'b', 'i', 'a', 'n' };



    static const char_T tmp_3f[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',

      '/', 'p', 'r', 'o', 'x' };



    static const char_T tmp_3g[28] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'f', '_', 'g', 'a', 'i', 'n', 's',

      '/', 'd', 'i', 's', 't' };



    static const char_T tmp_3h[26] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 't',

      'y', 'p', 'e' };



    static const char_T tmp_3i[32] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',

      't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',

      '_', 'c', 'u', 'r', 'r', 'e', 'n', 't', 's' };



    static const char_T tmp_3j[32] = { '/', 's', 'v', 'h', '_', 'c', 'o', 'n',

      't', 'r', 'o', 'l', 'l', 'e', 'r', '/', 'c', 'h', 'a', 'n', 'n', 'e', 'l',

      '_', 'f', 'e', 'e', 'd', 'b', 'a', 'c', 'k' };



    static const char_T tmp_3k[31] = { '/', 'h', 'a', 'n', 'd', '_', 'e', 'x',

      'o', '/', 'i', 'n', 'd', 'e', 'x', '/', 'm', 'o', 'd', 'e', 's', '/', 'f',

      'f', '_', 'a', 'c', 't', 'i', 'v', 'e' };



    char_T tmp_3l[15];

    char_T tmp_3m[16];



    /* Start for RateTransition: '<S33>/Rate Transition' */

    dx_hand_model_B.RateTransition =

      dx_hand_model_P.RateTransition_InitialCondition;



    /* Start for MATLABSystem: '<S33>/Get Parameter3' */

    dx_hand_model_DW.obj_e2.isInitialized = 0;

    dx_hand_model_DW.objisempty_lxe = true;

    dx_hand_model_DW.obj_e2.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_e2.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_3k[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_4854.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_4854.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4854.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */



    /* Start for RateTransition: '<S39>/Rate Transition' */

    dx_hand_model_B.RateTransition_g =

      dx_hand_model_P.RateTransition_InitialConditi_m;



    /* Start for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */

    sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

    CreateUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

    if (*sErr == 0) {

      LibCreate_Network(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U], 0,

                        "0.0.0.0", dx_hand_model_P.ReceivefromHaptics_localPort,

                        "0.0.0.0", -1, 108, 1, MIN_int32_T);

    }



    if (*sErr == 0) {

      LibStart(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

    }



    if (*sErr != 0) {

      DestroyUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

      if (*sErr != 0) {

        rtmSetErrorStatus(dx_hand_model_M, sErr);

        rtmSetStopRequested(dx_hand_model_M, 1);

      }

    }



    /* End of Start for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */



    /* Start for RateTransition: '<S4>/Rate Transition1' */

    dx_hand_model_B.RateTransition1 =

      dx_hand_model_P.RateTransition1_InitialConditio;



    /* Start for RateTransition: '<S50>/Rate Transition' */

    dx_hand_model_B.RateTransition_f =

      dx_hand_model_P.RateTransition_InitialConditi_e;



    /* Start for RateTransition: '<S37>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_B.RateTransition_a[i] =

        dx_hand_model_P.RateTransition_InitialCondit_e5;

    }



    /* End of Start for RateTransition: '<S37>/Rate Transition' */



    /* Start for RateTransition: '<S69>/Rate Transition' */

    dx_hand_model_B.RateTransition_l =

      dx_hand_model_P.RateTransition_InitialConditi_l;



    /* Start for RateTransition: '<S24>/Rate Transition' */

    dx_hand_model_B.RateTransition_gt =

      dx_hand_model_P.RateTransition_InitialConditi_i;



    /* Start for Atomic SubSystem: '<S20>/Subscribe1' */

    /* Start for MATLABSystem: '<S25>/SourceBlock' */

    dx_hand_model_DW.obj_ig.isInitialized = 0;

    dx_hand_model_DW.objisempty_dg = true;

    dx_hand_model_DW.obj_ig.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_3j[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    Sub_dx_hand_model_2652.createSubscriber(dx_hand_model_B.cv5,

      dx_hand_model_MessageQueueLen);



    /* End of Start for MATLABSystem: '<S25>/SourceBlock' */

    /* End of Start for SubSystem: '<S20>/Subscribe1' */



    /* Start for RateTransition: '<S76>/Rate Transition' */

    dx_hand_model_B.RateTransition_j =

      dx_hand_model_P.RateTransition_InitialCondit_l4;



    /* Start for RateTransition: '<S70>/Rate Transition' */

    dx_hand_model_B.RateTransition_ah =

      dx_hand_model_P.RateTransition_InitialConditi_g;



    /* Start for RateTransition: '<S77>/Rate Transition' */

    dx_hand_model_B.RateTransition_lm =

      dx_hand_model_P.RateTransition_InitialConditi_f;



    /* Start for RateTransition: '<S71>/Rate Transition' */

    dx_hand_model_B.RateTransition_k =

      dx_hand_model_P.RateTransition_InitialConditi_b;



    /* Start for RateTransition: '<S67>/Rate Transition' */

    dx_hand_model_B.RateTransition_n =

      dx_hand_model_P.RateTransition_InitialConditi_d;



    /* Start for RateTransition: '<S72>/Rate Transition' */

    dx_hand_model_B.RateTransition_o =

      dx_hand_model_P.RateTransition_InitialCondit_df;



    /* Start for RateTransition: '<S68>/Rate Transition' */

    dx_hand_model_B.RateTransition_k1 =

      dx_hand_model_P.RateTransition_InitialConditi_h;



    /* Start for RateTransition: '<S66>/Rate Transition' */

    dx_hand_model_B.RateTransition_ov =

      dx_hand_model_P.RateTransition_InitialCondit_mr;



    /* Start for RateTransition: '<S34>/Rate Transition' */

    dx_hand_model_B.RateTransition_jm =

      dx_hand_model_P.RateTransition_InitialCondit_le;



    /* Start for RateTransition: '<S47>/Rate Transition' */

    dx_hand_model_B.RateTransition_lp =

      dx_hand_model_P.RateTransition_InitialConditi_o;



    /* Start for Atomic SubSystem: '<S19>/Subscribe' */

    /* Start for MATLABSystem: '<S21>/SourceBlock' */

    dx_hand_model_DW.obj_ct.isInitialized = 0;

    dx_hand_model_DW.objisempty_f4d = true;

    dx_hand_model_DW.obj_ct.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_3i[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    Sub_dx_hand_model_437.createSubscriber(dx_hand_model_B.cv5,

      dx_hand_model_MessageQueueLen);



    /* End of Start for MATLABSystem: '<S21>/SourceBlock' */

    /* End of Start for SubSystem: '<S19>/Subscribe' */



    /* Start for RateTransition: '<S46>/Rate Transition' */

    dx_hand_model_B.RateTransition_p =

      dx_hand_model_P.RateTransition_InitialConditi_n;



    /* Start for RateTransition: '<S45>/Rate Transition' */

    dx_hand_model_B.RateTransition_b =

      dx_hand_model_P.RateTransition_InitialCondit_ml;



    /* Start for RateTransition: '<S41>/Rate Transition' */

    dx_hand_model_B.RateTransition_pg =

      dx_hand_model_P.RateTransition_InitialConditi_a;



    /* Start for MATLABSystem: '<S34>/Get Parameter3' */

    dx_hand_model_DW.obj_p3.isInitialized = 0;

    dx_hand_model_DW.objisempty_oh = true;

    dx_hand_model_DW.obj_p3.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_p3.isInitialized = 1;

    for (i = 0; i < 26; i++) {

      dx_hand_model_B.cv11[i] = tmp_3h[i];

    }



    dx_hand_model_B.cv11[26] = '\x00';

    ParamGet_dx_hand_model_3562.initialize(dx_hand_model_B.cv11);

    ParamGet_dx_hand_model_3562.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3562.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */



    /* Start for MATLABSystem: '<S46>/Get Parameter3' */

    dx_hand_model_DW.obj_me.isInitialized = 0;

    dx_hand_model_DW.objisempty_ei = true;

    dx_hand_model_DW.obj_me.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_me.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_3g[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_3578.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_3578.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3578.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */



    /* Start for MATLABSystem: '<S47>/Get Parameter3' */

    dx_hand_model_DW.obj_oe.isInitialized = 0;

    dx_hand_model_DW.objisempty_og = true;

    dx_hand_model_DW.obj_oe.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_oe.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_3f[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_3588.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_3588.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3588.set_initial_value

      (dx_han_ParameterInitialValue_kf);



    /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */



    /* Start for MATLABSystem: '<S45>/Get Parameter3' */

    dx_hand_model_DW.obj_ev.isInitialized = 0;

    dx_hand_model_DW.objisempty_g3 = true;

    dx_hand_model_DW.obj_ev.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ev.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_3e[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_2644.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_2644.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2644.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */



    /* Start for MATLABSystem: '<S50>/Set Parameter' */

    dx_hand_model_DW.obj_b1.isInitialized = 0;

    dx_hand_model_DW.objisempty_kmd = true;

    dx_hand_model_DW.obj_b1.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_3d[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamSet_dx_hand_model_2630.initialize(dx_hand_model_B.cv6);



    /* End of Start for MATLABSystem: '<S50>/Set Parameter' */



    /* Start for MATLABSystem: '<S50>/Get Parameter3' */

    dx_hand_model_DW.obj_m2.isInitialized = 0;

    dx_hand_model_DW.objisempty_nre = true;

    dx_hand_model_DW.obj_m2.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_m2.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_3c[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_2632.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_2632.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2632.set_initial_value

      (dx_h_ParameterInitialValue_kfai);



    /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */



    /* Start for MATLABSystem: '<S58>/Get Parameter' */

    dx_hand_model_DW.obj_hfj.isInitialized = 0;

    dx_hand_model_DW.objisempty_drg = true;

    dx_hand_model_DW.obj_hfj.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hfj.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_3b[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_2613.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_2613.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2613.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S58>/Get Parameter' */



    /* Start for MATLABSystem: '<S58>/Get Parameter1' */

    dx_hand_model_DW.obj_jb.isInitialized = 0;

    dx_hand_model_DW.objisempty_bk = true;

    dx_hand_model_DW.obj_jb.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_jb.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_3a[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_2614.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_2614.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2614.set_initial_value

      (d_ParameterInitialValue_kfaixs2);



    /* End of Start for MATLABSystem: '<S58>/Get Parameter1' */



    /* Start for MATLABSystem: '<S58>/Get Parameter2' */

    dx_hand_model_DW.obj_mh.isInitialized = 0;

    dx_hand_model_DW.objisempty_lx = true;

    dx_hand_model_DW.obj_mh.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mh.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_39[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_2615.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_2615.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2615.set_initial_value

      (dx_ParameterInitialValue_kfaixs);



    /* End of Start for MATLABSystem: '<S58>/Get Parameter2' */



    /* Start for MATLABSystem: '<S58>/Get Parameter3' */

    dx_hand_model_DW.obj_fc.isInitialized = 0;

    dx_hand_model_DW.objisempty_ng = true;

    dx_hand_model_DW.obj_fc.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_fc.isInitialized = 1;

    for (i = 0; i < 17; i++) {

      dx_hand_model_B.cv19[i] = tmp_38[i];

    }



    dx_hand_model_B.cv19[17] = '\x00';

    ParamGet_dx_hand_model_2616.initialize(dx_hand_model_B.cv19);

    ParamGet_dx_hand_model_2616.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2616.set_initial_value

      (dx__ParameterInitialValue_kfaix);



    /* End of Start for MATLABSystem: '<S58>/Get Parameter3' */



    /* Start for MATLABSystem: '<S58>/Get Parameter4' */

    dx_hand_model_DW.obj_ju.isInitialized = 0;

    dx_hand_model_DW.objisempty_fm = true;

    dx_hand_model_DW.obj_ju.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ju.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_37[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_2617.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_2617.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2617.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S58>/Get Parameter4' */



    /* Start for MATLABSystem: '<S66>/Get Parameter3' */

    dx_hand_model_DW.obj_al.isInitialized = 0;

    dx_hand_model_DW.objisempty_p5 = true;

    dx_hand_model_DW.obj_al.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_al.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_36[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_3323.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_3323.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3323.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */



    /* Start for MATLABSystem: '<S67>/Get Parameter3' */

    dx_hand_model_DW.obj_gbp.isInitialized = 0;

    dx_hand_model_DW.objisempty_e3 = true;

    dx_hand_model_DW.obj_gbp.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gbp.isInitialized = 1;

    for (i = 0; i < 36; i++) {

      dx_hand_model_B.cv1[i] = tmp_35[i];

    }



    dx_hand_model_B.cv1[36] = '\x00';

    ParamGet_dx_hand_model_3464.initialize(dx_hand_model_B.cv1);

    ParamGet_dx_hand_model_3464.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3464.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */



    /* Start for MATLABSystem: '<S68>/Get Parameter3' */

    dx_hand_model_DW.obj_i.isInitialized = 0;

    dx_hand_model_DW.objisempty_ap = true;

    dx_hand_model_DW.obj_i.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_i.isInitialized = 1;

    for (i = 0; i < 35; i++) {

      dx_hand_model_B.cv2[i] = tmp_34[i];

    }



    dx_hand_model_B.cv2[35] = '\x00';

    ParamGet_dx_hand_model_3474.initialize(dx_hand_model_B.cv2);

    ParamGet_dx_hand_model_3474.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3474.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */



    /* Start for MATLABSystem: '<S69>/Get Parameter3' */

    dx_hand_model_DW.obj_lye.isInitialized = 0;

    dx_hand_model_DW.objisempty_kh = true;

    dx_hand_model_DW.obj_lye.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_lye.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_33[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_3283.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_3283.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3283.set_initial_value(ParameterInitialValue_kfaixs2x);



    /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */



    /* Start for MATLABSystem: '<S70>/Get Parameter3' */

    dx_hand_model_DW.obj_gts.isInitialized = 0;

    dx_hand_model_DW.objisempty_fw = true;

    dx_hand_model_DW.obj_gts.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gts.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_32[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_3296.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_3296.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3296.set_initial_value

      (ParameterInitialValue_kfaixs2xt);



    /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */



    /* Start for MATLABSystem: '<S71>/Get Parameter3' */

    dx_hand_model_DW.obj_d4.isInitialized = 0;

    dx_hand_model_DW.objisempty_mu2 = true;

    dx_hand_model_DW.obj_d4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_d4.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_31[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_3307.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_3307.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3307.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */



    /* Start for MATLABSystem: '<S72>/Get Parameter3' */

    dx_hand_model_DW.obj_fo.isInitialized = 0;

    dx_hand_model_DW.objisempty_i2 = true;

    dx_hand_model_DW.obj_fo.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_fo.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_30[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_3314.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_3314.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3314.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */



    /* Start for MATLABSystem: '<S39>/Get Parameter3' */

    dx_hand_model_DW.obj_cc.isInitialized = 0;

    dx_hand_model_DW.objisempty_mn = true;

    dx_hand_model_DW.obj_cc.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_cc.isInitialized = 1;

    for (i = 0; i < 19; i++) {

      dx_hand_model_B.cv17[i] = tmp_2z[i];

    }



    dx_hand_model_B.cv17[19] = '\x00';

    ParamGet_dx_hand_model_3238.initialize(dx_hand_model_B.cv17);

    ParamGet_dx_hand_model_3238.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3238.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */



    /* Start for MATLABSystem: '<S76>/Get Parameter3' */

    dx_hand_model_DW.obj_nd.isInitialized = 0;

    dx_hand_model_DW.objisempty_nq = true;

    dx_hand_model_DW.obj_nd.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_nd.isInitialized = 1;

    for (i = 0; i < 33; i++) {

      dx_hand_model_B.cv4[i] = tmp_2y[i];

    }



    dx_hand_model_B.cv4[33] = '\x00';

    ParamGet_dx_hand_model_3391.initialize(dx_hand_model_B.cv4);

    ParamGet_dx_hand_model_3391.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3391.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */



    /* Start for MATLABSystem: '<S77>/Get Parameter3' */

    dx_hand_model_DW.obj_cm.isInitialized = 0;

    dx_hand_model_DW.objisempty_d4 = true;

    dx_hand_model_DW.obj_cm.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_cm.isInitialized = 1;

    for (i = 0; i < 33; i++) {

      dx_hand_model_B.cv4[i] = tmp_2x[i];

    }



    dx_hand_model_B.cv4[33] = '\x00';

    ParamGet_dx_hand_model_3398.initialize(dx_hand_model_B.cv4);

    ParamGet_dx_hand_model_3398.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3398.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */



    /* Start for MATLABSystem: '<S41>/Get Parameter3' */

    dx_hand_model_DW.obj_ls.isInitialized = 0;

    dx_hand_model_DW.objisempty_o4 = true;

    dx_hand_model_DW.obj_ls.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ls.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_2w[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_3507.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_3507.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3507.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */



    /* Start for RateTransition: '<S78>/Rate Transition' */

    dx_hand_model_B.RateTransition_pi =

      dx_hand_model_P.RateTransition_InitialConditi_c;



    /* Start for MATLABSystem: '<S78>/Get Parameter3' */

    dx_hand_model_DW.obj_p1.isInitialized = 0;

    dx_hand_model_DW.objisempty_ee = true;

    dx_hand_model_DW.obj_p1.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_p1.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_2v[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_4871.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_4871.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4871.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */



    /* Start for RateTransition: '<S84>/Rate Transition' */

    dx_hand_model_B.RateTransition_i =

      dx_hand_model_P.RateTransition_InitialCondit_h1;



    /* Start for RateTransition: '<S92>/Rate Transition' */

    dx_hand_model_B.RateTransition_d =

      dx_hand_model_P.RateTransition_InitialConditi_j;



    /* Start for RateTransition: '<S81>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_B.RateTransition_ie[i] =

        dx_hand_model_P.RateTransition_InitialCondit_ho;

    }



    /* End of Start for RateTransition: '<S81>/Rate Transition' */



    /* Start for RateTransition: '<S119>/Rate Transition' */

    dx_hand_model_B.RateTransition_gd =

      dx_hand_model_P.RateTransition_InitialCondit_hj;



    /* Start for RateTransition: '<S87>/Rate Transition' */

    dx_hand_model_B.RateTransition_ii =

      dx_hand_model_P.RateTransition_InitialCondit_fa;



    /* Start for RateTransition: '<S120>/Rate Transition' */

    dx_hand_model_B.RateTransition_po =

      dx_hand_model_P.RateTransition_InitialCondit_oz;



    /* Start for RateTransition: '<S88>/Rate Transition' */

    dx_hand_model_B.RateTransition_aj =

      dx_hand_model_P.RateTransition_InitialCondit_lg;



    /* Start for RateTransition: '<S121>/Rate Transition' */

    dx_hand_model_B.RateTransition_oh =

      dx_hand_model_P.RateTransition_InitialCondit_dc;



    /* Start for RateTransition: '<S117>/Rate Transition' */

    dx_hand_model_B.RateTransition_bq =

      dx_hand_model_P.RateTransition_InitialConditi_p;



    /* Start for RateTransition: '<S122>/Rate Transition' */

    dx_hand_model_B.RateTransition_m =

      dx_hand_model_P.RateTransition_InitialCondit_eh;



    /* Start for RateTransition: '<S118>/Rate Transition' */

    dx_hand_model_B.RateTransition_pa =

      dx_hand_model_P.RateTransition_InitialCondit_ie;



    /* Start for RateTransition: '<S116>/Rate Transition' */

    dx_hand_model_B.RateTransition_k2 =

      dx_hand_model_P.RateTransition_InitialCondit_f5;



    /* Start for RateTransition: '<S79>/Rate Transition' */

    dx_hand_model_B.RateTransition_d1 =

      dx_hand_model_P.RateTransition_InitialCondit_co;



    /* Start for RateTransition: '<S109>/Rate Transition' */

    dx_hand_model_B.RateTransition_mp =

      dx_hand_model_P.RateTransition_InitialCondit_j1;



    /* Start for RateTransition: '<S108>/Rate Transition' */

    dx_hand_model_B.RateTransition_k3 =

      dx_hand_model_P.RateTransition_InitialConditi_k;



    /* Start for RateTransition: '<S107>/Rate Transition' */

    dx_hand_model_B.RateTransition_fg =

      dx_hand_model_P.RateTransition_InitialCondit_ks;



    /* Start for RateTransition: '<S89>/Rate Transition' */

    dx_hand_model_B.RateTransition_ps =

      dx_hand_model_P.RateTransition_InitialCondit_h4;



    /* Start for MATLABSystem: '<S79>/Get Parameter3' */

    dx_hand_model_DW.obj_hg.isInitialized = 0;

    dx_hand_model_DW.objisempty_cts = true;

    dx_hand_model_DW.obj_hg.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hg.isInitialized = 1;

    for (i = 0; i < 27; i++) {

      dx_hand_model_B.cv10[i] = tmp_2u[i];

    }



    dx_hand_model_B.cv10[27] = '\x00';

    ParamGet_dx_hand_model_3550.initialize(dx_hand_model_B.cv10);

    ParamGet_dx_hand_model_3550.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3550.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */



    /* Start for MATLABSystem: '<S92>/Set Parameter' */

    dx_hand_model_DW.obj_nru.isInitialized = 0;

    dx_hand_model_DW.objisempty_bj = true;

    dx_hand_model_DW.obj_nru.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_2t[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_2567.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S92>/Set Parameter' */



    /* Start for MATLABSystem: '<S92>/Get Parameter3' */

    dx_hand_model_DW.obj_aea.isInitialized = 0;

    dx_hand_model_DW.objisempty_iim = true;

    dx_hand_model_DW.obj_aea.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_aea.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_2s[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_2565.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_2565.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2565.set_initial_value

      (ParameterInitialValu_kfaixs2xtf);



    /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */



    /* Start for MATLABSystem: '<S102>/Get Parameter' */

    dx_hand_model_DW.obj_hu.isInitialized = 0;

    dx_hand_model_DW.objisempty_e4 = true;

    dx_hand_model_DW.obj_hu.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hu.isInitialized = 1;

    for (i = 0; i < 21; i++) {

      dx_hand_model_B.cv15[i] = tmp_2r[i];

    }



    dx_hand_model_B.cv15[21] = '\x00';

    ParamGet_dx_hand_model_2519.initialize(dx_hand_model_B.cv15);

    ParamGet_dx_hand_model_2519.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2519.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S102>/Get Parameter' */



    /* Start for MATLABSystem: '<S102>/Get Parameter1' */

    dx_hand_model_DW.obj_hf.isInitialized = 0;

    dx_hand_model_DW.objisempty_cg = true;

    dx_hand_model_DW.obj_hf.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hf.isInitialized = 1;

    for (i = 0; i < 21; i++) {

      dx_hand_model_B.cv15[i] = tmp_2q[i];

    }



    dx_hand_model_B.cv15[21] = '\x00';

    ParamGet_dx_hand_model_2520.initialize(dx_hand_model_B.cv15);

    ParamGet_dx_hand_model_2520.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2520.set_initial_value

      (ParameterInitialV_kfaixs2xtfarg);



    /* End of Start for MATLABSystem: '<S102>/Get Parameter1' */



    /* Start for MATLABSystem: '<S102>/Get Parameter2' */

    dx_hand_model_DW.obj_n2.isInitialized = 0;

    dx_hand_model_DW.objisempty_f4u = true;

    dx_hand_model_DW.obj_n2.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_n2.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp_2p[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_2521.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_2521.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2521.set_initial_value

      (ParameterInitialVa_kfaixs2xtfar);



    /* End of Start for MATLABSystem: '<S102>/Get Parameter2' */



    /* Start for MATLABSystem: '<S102>/Get Parameter3' */

    dx_hand_model_DW.obj_e1.isInitialized = 0;

    dx_hand_model_DW.objisempty_a3 = true;

    dx_hand_model_DW.obj_e1.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_e1.isInitialized = 1;

    for (i = 0; i < 18; i++) {

      dx_hand_model_B.cv18[i] = tmp_2o[i];

    }



    dx_hand_model_B.cv18[18] = '\x00';

    ParamGet_dx_hand_model_2522.initialize(dx_hand_model_B.cv18);

    ParamGet_dx_hand_model_2522.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2522.set_initial_value

      (ParameterInitialVal_kfaixs2xtfa);



    /* End of Start for MATLABSystem: '<S102>/Get Parameter3' */



    /* Start for MATLABSystem: '<S102>/Get Parameter4' */

    dx_hand_model_DW.obj_gg.isInitialized = 0;

    dx_hand_model_DW.objisempty_j5v = true;

    dx_hand_model_DW.obj_gg.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gg.isInitialized = 1;

    for (i = 0; i < 21; i++) {

      dx_hand_model_B.cv15[i] = tmp_2n[i];

    }



    dx_hand_model_B.cv15[21] = '\x00';

    ParamGet_dx_hand_model_2523.initialize(dx_hand_model_B.cv15);

    ParamGet_dx_hand_model_2523.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2523.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S102>/Get Parameter4' */



    /* Start for MATLABSystem: '<S108>/Get Parameter3' */

    dx_hand_model_DW.obj_ae1.isInitialized = 0;

    dx_hand_model_DW.objisempty_ec = true;

    dx_hand_model_DW.obj_ae1.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ae1.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_2m[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_2703.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_2703.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2703.set_initial_value

      (ParameterInitial_kfaixs2xtfargw);



    /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */



    /* Start for MATLABSystem: '<S109>/Get Parameter3' */

    dx_hand_model_DW.obj_pu.isInitialized = 0;

    dx_hand_model_DW.objisempty_k3 = true;

    dx_hand_model_DW.obj_pu.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pu.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_2l[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_2713.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_2713.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2713.set_initial_value

      (dx_han_ParameterInitialValue_kf);



    /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */



    /* Start for MATLABSystem: '<S107>/Get Parameter3' */

    dx_hand_model_DW.obj_gr.isInitialized = 0;

    dx_hand_model_DW.objisempty_f4 = true;

    dx_hand_model_DW.obj_gr.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gr.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_2k[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_2571.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_2571.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2571.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */



    /* Start for MATLABSystem: '<S116>/Get Parameter3' */

    dx_hand_model_DW.obj_pi.isInitialized = 0;

    dx_hand_model_DW.objisempty_im = true;

    dx_hand_model_DW.obj_pi.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pi.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_2j[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_3348.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_3348.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3348.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */



    /* Start for MATLABSystem: '<S117>/Get Parameter3' */

    dx_hand_model_DW.obj_k3.isInitialized = 0;

    dx_hand_model_DW.objisempty_eb = true;

    dx_hand_model_DW.obj_k3.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_k3.isInitialized = 1;

    for (i = 0; i < 37; i++) {

      dx_hand_model_B.cv0[i] = tmp_2i[i];

    }



    dx_hand_model_B.cv0[37] = '\x00';

    ParamGet_dx_hand_model_3482.initialize(dx_hand_model_B.cv0);

    ParamGet_dx_hand_model_3482.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3482.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */



    /* Start for MATLABSystem: '<S118>/Get Parameter3' */

    dx_hand_model_DW.obj_lx.isInitialized = 0;

    dx_hand_model_DW.objisempty_oi = true;

    dx_hand_model_DW.obj_lx.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_lx.isInitialized = 1;

    for (i = 0; i < 36; i++) {

      dx_hand_model_B.cv1[i] = tmp_2h[i];

    }



    dx_hand_model_B.cv1[36] = '\x00';

    ParamGet_dx_hand_model_3490.initialize(dx_hand_model_B.cv1);

    ParamGet_dx_hand_model_3490.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3490.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */



    /* Start for MATLABSystem: '<S119>/Get Parameter3' */

    dx_hand_model_DW.obj_mw.isInitialized = 0;

    dx_hand_model_DW.objisempty_hw = true;

    dx_hand_model_DW.obj_mw.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mw.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_2g[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_3362.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_3362.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3362.set_initial_value(ParameterInitialValue_kfaixs2x);



    /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */



    /* Start for MATLABSystem: '<S120>/Get Parameter3' */

    dx_hand_model_DW.obj_fx.isInitialized = 0;

    dx_hand_model_DW.objisempty_ld = true;

    dx_hand_model_DW.obj_fx.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_fx.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_2f[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_3369.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_3369.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3369.set_initial_value

      (ParameterInitialValue_kfaixs2xt);



    /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */



    /* Start for MATLABSystem: '<S121>/Get Parameter3' */

    dx_hand_model_DW.obj_ha.isInitialized = 0;

    dx_hand_model_DW.objisempty_h4 = true;

    dx_hand_model_DW.obj_ha.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ha.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_2e[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_3376.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_3376.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3376.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */



    /* Start for MATLABSystem: '<S122>/Get Parameter3' */

    dx_hand_model_DW.obj_ot.isInitialized = 0;

    dx_hand_model_DW.objisempty_kj = true;

    dx_hand_model_DW.obj_ot.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ot.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_2d[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_3383.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_3383.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3383.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */



    /* Start for MATLABSystem: '<S84>/Get Parameter3' */

    dx_hand_model_DW.obj_h3.isInitialized = 0;

    dx_hand_model_DW.objisempty_f0 = true;

    dx_hand_model_DW.obj_h3.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_h3.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_2c[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_3245.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_3245.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3245.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */



    /* Start for MATLABSystem: '<S87>/Get Parameter3' */

    dx_hand_model_DW.obj_bs.isInitialized = 0;

    dx_hand_model_DW.objisempty_op = true;

    dx_hand_model_DW.obj_bs.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_bs.isInitialized = 1;

    for (i = 0; i < 34; i++) {

      dx_hand_model_B.cv3[i] = tmp_2b[i];

    }



    dx_hand_model_B.cv3[34] = '\x00';

    ParamGet_dx_hand_model_3405.initialize(dx_hand_model_B.cv3);

    ParamGet_dx_hand_model_3405.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3405.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */



    /* Start for MATLABSystem: '<S88>/Get Parameter3' */

    dx_hand_model_DW.obj_hxn.isInitialized = 0;

    dx_hand_model_DW.objisempty_bi = true;

    dx_hand_model_DW.obj_hxn.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hxn.isInitialized = 1;

    for (i = 0; i < 34; i++) {

      dx_hand_model_B.cv3[i] = tmp_2a[i];

    }



    dx_hand_model_B.cv3[34] = '\x00';

    ParamGet_dx_hand_model_3412.initialize(dx_hand_model_B.cv3);

    ParamGet_dx_hand_model_3412.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3412.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */



    /* Start for MATLABSystem: '<S89>/Get Parameter3' */

    dx_hand_model_DW.obj_ddh.isInitialized = 0;

    dx_hand_model_DW.objisempty_dq = true;

    dx_hand_model_DW.obj_ddh.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ddh.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_29[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_3498.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_3498.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3498.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */



    /* Start for RateTransition: '<S124>/Rate Transition' */

    dx_hand_model_B.RateTransition_a3 =

      dx_hand_model_P.RateTransition_InitialCondit_n1;



    /* Start for MATLABSystem: '<S124>/Get Parameter3' */

    dx_hand_model_DW.obj_pp.isInitialized = 0;

    dx_hand_model_DW.objisempty_hh = true;

    dx_hand_model_DW.obj_pp.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pp.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_28[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_4887.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_4887.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4887.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */



    /* Start for RateTransition: '<S131>/Rate Transition' */

    dx_hand_model_B.RateTransition_k3g =

      dx_hand_model_P.RateTransition_InitialCondit_by;



    /* Start for RateTransition: '<S139>/Rate Transition' */

    dx_hand_model_B.RateTransition_dn =

      dx_hand_model_P.RateTransition_InitialCondit_ey;



    /* Start for RateTransition: '<S128>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_B.RateTransition_dw[i] =

        dx_hand_model_P.RateTransition_InitialCondit_kp;

    }



    /* End of Start for RateTransition: '<S128>/Rate Transition' */



    /* Start for RateTransition: '<S164>/Rate Transition' */

    dx_hand_model_B.RateTransition_p4 =

      dx_hand_model_P.RateTransition_InitialCondit_nj;



    /* Start for RateTransition: '<S134>/Rate Transition' */

    dx_hand_model_B.RateTransition_ng =

      dx_hand_model_P.RateTransition_InitialCondit_da;



    /* Start for RateTransition: '<S165>/Rate Transition' */

    dx_hand_model_B.RateTransition_ld =

      dx_hand_model_P.RateTransition_InitialCondit_oe;



    /* Start for RateTransition: '<S135>/Rate Transition' */

    dx_hand_model_B.RateTransition_km =

      dx_hand_model_P.RateTransition_InitialCondit_hg;



    /* Start for RateTransition: '<S166>/Rate Transition' */

    dx_hand_model_B.RateTransition_ky =

      dx_hand_model_P.RateTransition_InitialCondit_ag;



    /* Start for RateTransition: '<S162>/Rate Transition' */

    dx_hand_model_B.RateTransition_e =

      dx_hand_model_P.RateTransition_InitialCondit_of;



    /* Start for RateTransition: '<S167>/Rate Transition' */

    dx_hand_model_B.RateTransition_ks =

      dx_hand_model_P.RateTransition_InitialCondit_nc;



    /* Start for RateTransition: '<S163>/Rate Transition' */

    dx_hand_model_B.RateTransition_pgy =

      dx_hand_model_P.RateTransition_InitialCondit_gk;



    /* Start for RateTransition: '<S161>/Rate Transition' */

    dx_hand_model_B.RateTransition_o0 =

      dx_hand_model_P.RateTransition_InitialCondit_e4;



    /* Start for RateTransition: '<S126>/Rate Transition' */

    dx_hand_model_B.RateTransition_bs =

      dx_hand_model_P.RateTransition_InitialCondit_bl;



    /* Start for RateTransition: '<S154>/Rate Transition' */

    dx_hand_model_B.RateTransition_a2 =

      dx_hand_model_P.RateTransition_InitialCondit_ee;



    /* Start for RateTransition: '<S153>/Rate Transition' */

    dx_hand_model_B.RateTransition_pb =

      dx_hand_model_P.RateTransition_InitialCondit_dj;



    /* Start for RateTransition: '<S152>/Rate Transition' */

    dx_hand_model_B.RateTransition_lt =

      dx_hand_model_P.RateTransition_InitialCondit_od;



    /* Start for RateTransition: '<S136>/Rate Transition' */

    dx_hand_model_B.RateTransition_k4 =

      dx_hand_model_P.RateTransition_InitialCondit_fm;



    /* Start for RateTransition: '<S125>/Rate Transition' */

    dx_hand_model_B.RateTransition_em =

      dx_hand_model_P.RateTransition_InitialCondit_kt;



    /* Start for MATLABSystem: '<S125>/Get Parameter3' */

    dx_hand_model_DW.obj_ej.isInitialized = 0;

    dx_hand_model_DW.objisempty_mh = true;

    dx_hand_model_DW.obj_ej.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ej.isInitialized = 1;

    for (i = 0; i < 27; i++) {

      dx_hand_model_B.cv10[i] = tmp_27[i];

    }



    dx_hand_model_B.cv10[27] = '\x00';

    ParamGet_dx_hand_model_4895.initialize(dx_hand_model_B.cv10);

    ParamGet_dx_hand_model_4895.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4895.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */



    /* Start for MATLABSystem: '<S126>/Get Parameter3' */

    dx_hand_model_DW.obj_hxt.isInitialized = 0;

    dx_hand_model_DW.objisempty_iyn = true;

    dx_hand_model_DW.obj_hxt.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hxt.isInitialized = 1;

    for (i = 0; i < 26; i++) {

      dx_hand_model_B.cv11[i] = tmp_26[i];

    }



    dx_hand_model_B.cv11[26] = '\x00';

    ParamGet_dx_hand_model_4579.initialize(dx_hand_model_B.cv11);

    ParamGet_dx_hand_model_4579.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4579.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */



    /* Start for MATLABSystem: '<S139>/Set Parameter' */

    dx_hand_model_DW.obj_lk.isInitialized = 0;

    dx_hand_model_DW.objisempty_dr = true;

    dx_hand_model_DW.obj_lk.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_25[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamSet_dx_hand_model_4620.initialize(dx_hand_model_B.cv6);



    /* End of Start for MATLABSystem: '<S139>/Set Parameter' */



    /* Start for MATLABSystem: '<S139>/Get Parameter3' */

    dx_hand_model_DW.obj_lmh.isInitialized = 0;

    dx_hand_model_DW.objisempty_lm = true;

    dx_hand_model_DW.obj_lmh.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_lmh.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_24[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_4616.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_4616.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4616.set_initial_value

      (ParameterInitialValu_kfaixs2xtf);



    /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */



    /* Start for MATLABSystem: '<S146>/Get Parameter' */

    dx_hand_model_DW.obj_ee.isInitialized = 0;

    dx_hand_model_DW.objisempty_gm = true;

    dx_hand_model_DW.obj_ee.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ee.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_23[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_4640.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_4640.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4640.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S146>/Get Parameter' */



    /* Start for MATLABSystem: '<S146>/Get Parameter1' */

    dx_hand_model_DW.obj_ny.isInitialized = 0;

    dx_hand_model_DW.objisempty_iy = true;

    dx_hand_model_DW.obj_ny.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ny.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_22[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_4641.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_4641.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4641.set_initial_value

      (ParameterInitialV_kfaixs2xtfarg);



    /* End of Start for MATLABSystem: '<S146>/Get Parameter1' */



    /* Start for MATLABSystem: '<S146>/Get Parameter2' */

    dx_hand_model_DW.obj_jl.isInitialized = 0;

    dx_hand_model_DW.objisempty_hi = true;

    dx_hand_model_DW.obj_jl.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_jl.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_21[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_4642.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_4642.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4642.set_initial_value

      (ParameterInitialVa_kfaixs2xtfar);



    /* End of Start for MATLABSystem: '<S146>/Get Parameter2' */



    /* Start for MATLABSystem: '<S146>/Get Parameter3' */

    dx_hand_model_DW.obj_bu.isInitialized = 0;

    dx_hand_model_DW.objisempty_cw = true;

    dx_hand_model_DW.obj_bu.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_bu.isInitialized = 1;

    for (i = 0; i < 17; i++) {

      dx_hand_model_B.cv19[i] = tmp_20[i];

    }



    dx_hand_model_B.cv19[17] = '\x00';

    ParamGet_dx_hand_model_4643.initialize(dx_hand_model_B.cv19);

    ParamGet_dx_hand_model_4643.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4643.set_initial_value

      (ParameterInitialVal_kfaixs2xtfa);



    /* End of Start for MATLABSystem: '<S146>/Get Parameter3' */



    /* Start for MATLABSystem: '<S146>/Get Parameter4' */

    dx_hand_model_DW.obj_dc.isInitialized = 0;

    dx_hand_model_DW.objisempty_ae = true;

    dx_hand_model_DW.obj_dc.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_dc.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_1z[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_4644.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_4644.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4644.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S146>/Get Parameter4' */



    /* Start for MATLABSystem: '<S153>/Get Parameter3' */

    dx_hand_model_DW.obj_lm.isInitialized = 0;

    dx_hand_model_DW.objisempty_n0 = true;

    dx_hand_model_DW.obj_lm.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_lm.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_1y[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4700.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4700.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4700.set_initial_value

      (ParameterInitial_kfaixs2xtfargw);



    /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */



    /* Start for MATLABSystem: '<S154>/Get Parameter3' */

    dx_hand_model_DW.obj_ov.isInitialized = 0;

    dx_hand_model_DW.objisempty_l2 = true;

    dx_hand_model_DW.obj_ov.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ov.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_1x[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4710.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4710.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4710.set_initial_value

      (dx_han_ParameterInitialValue_kf);



    /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */



    /* Start for MATLABSystem: '<S152>/Get Parameter3' */

    dx_hand_model_DW.obj_mz4.isInitialized = 0;

    dx_hand_model_DW.objisempty_ct = true;

    dx_hand_model_DW.obj_mz4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mz4.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_1w[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_4720.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_4720.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4720.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */



    /* Start for MATLABSystem: '<S161>/Get Parameter3' */

    dx_hand_model_DW.obj_dd.isInitialized = 0;

    dx_hand_model_DW.objisempty_cm = true;

    dx_hand_model_DW.obj_dd.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_dd.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_1v[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_4743.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_4743.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4743.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */



    /* Start for MATLABSystem: '<S162>/Get Parameter3' */

    dx_hand_model_DW.obj_mz.isInitialized = 0;

    dx_hand_model_DW.objisempty_e0 = true;

    dx_hand_model_DW.obj_mz.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mz.isInitialized = 1;

    for (i = 0; i < 36; i++) {

      dx_hand_model_B.cv1[i] = tmp_1u[i];

    }



    dx_hand_model_B.cv1[36] = '\x00';

    ParamGet_dx_hand_model_4758.initialize(dx_hand_model_B.cv1);

    ParamGet_dx_hand_model_4758.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4758.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */



    /* Start for MATLABSystem: '<S163>/Get Parameter3' */

    dx_hand_model_DW.obj_ob.isInitialized = 0;

    dx_hand_model_DW.objisempty_gz = true;

    dx_hand_model_DW.obj_ob.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ob.isInitialized = 1;

    for (i = 0; i < 35; i++) {

      dx_hand_model_B.cv2[i] = tmp_1t[i];

    }



    dx_hand_model_B.cv2[35] = '\x00';

    ParamGet_dx_hand_model_4766.initialize(dx_hand_model_B.cv2);

    ParamGet_dx_hand_model_4766.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4766.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */



    /* Start for MATLABSystem: '<S164>/Get Parameter3' */

    dx_hand_model_DW.obj_c4.isInitialized = 0;

    dx_hand_model_DW.objisempty_p1 = true;

    dx_hand_model_DW.obj_c4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_c4.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_1s[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4773.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4773.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4773.set_initial_value(ParameterInitialValue_kfaixs2x);



    /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */



    /* Start for MATLABSystem: '<S165>/Get Parameter3' */

    dx_hand_model_DW.obj_ae.isInitialized = 0;

    dx_hand_model_DW.objisempty_b4 = true;

    dx_hand_model_DW.obj_ae.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ae.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_1r[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4780.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4780.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4780.set_initial_value

      (ParameterInitialValue_kfaixs2xt);



    /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */



    /* Start for MATLABSystem: '<S166>/Get Parameter3' */

    dx_hand_model_DW.obj_e4.isInitialized = 0;

    dx_hand_model_DW.objisempty_ij = true;

    dx_hand_model_DW.obj_e4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_e4.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_1q[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4787.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4787.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4787.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */



    /* Start for MATLABSystem: '<S167>/Get Parameter3' */

    dx_hand_model_DW.obj_dg.isInitialized = 0;

    dx_hand_model_DW.objisempty_il = true;

    dx_hand_model_DW.obj_dg.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_dg.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_1p[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4794.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4794.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4794.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */



    /* Start for MATLABSystem: '<S131>/Get Parameter3' */

    dx_hand_model_DW.obj_kw.isInitialized = 0;

    dx_hand_model_DW.objisempty_mm = true;

    dx_hand_model_DW.obj_kw.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_kw.isInitialized = 1;

    for (i = 0; i < 19; i++) {

      dx_hand_model_B.cv17[i] = tmp_1o[i];

    }



    dx_hand_model_B.cv17[19] = '\x00';

    ParamGet_dx_hand_model_4804.initialize(dx_hand_model_B.cv17);

    ParamGet_dx_hand_model_4804.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4804.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */



    /* Start for MATLABSystem: '<S134>/Get Parameter3' */

    dx_hand_model_DW.obj_hl.isInitialized = 0;

    dx_hand_model_DW.objisempty_nd = true;

    dx_hand_model_DW.obj_hl.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hl.isInitialized = 1;

    for (i = 0; i < 33; i++) {

      dx_hand_model_B.cv4[i] = tmp_1n[i];

    }



    dx_hand_model_B.cv4[33] = '\x00';

    ParamGet_dx_hand_model_4815.initialize(dx_hand_model_B.cv4);

    ParamGet_dx_hand_model_4815.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4815.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */



    /* Start for MATLABSystem: '<S135>/Get Parameter3' */

    dx_hand_model_DW.obj_dy.isInitialized = 0;

    dx_hand_model_DW.objisempty_mz = true;

    dx_hand_model_DW.obj_dy.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_dy.isInitialized = 1;

    for (i = 0; i < 33; i++) {

      dx_hand_model_B.cv4[i] = tmp_1m[i];

    }



    dx_hand_model_B.cv4[33] = '\x00';

    ParamGet_dx_hand_model_4822.initialize(dx_hand_model_B.cv4);

    ParamGet_dx_hand_model_4822.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4822.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */



    /* Start for MATLABSystem: '<S136>/Get Parameter3' */

    dx_hand_model_DW.obj_gw.isInitialized = 0;

    dx_hand_model_DW.objisempty_ju = true;

    dx_hand_model_DW.obj_gw.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gw.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_1l[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_4829.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_4829.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4829.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */



    /* Start for RateTransition: '<S169>/Rate Transition' */

    dx_hand_model_B.RateTransition_fh =

      dx_hand_model_P.RateTransition_InitialCondit_ia;



    /* Start for MATLABSystem: '<S169>/Get Parameter3' */

    dx_hand_model_DW.obj_gb.isInitialized = 0;

    dx_hand_model_DW.objisempty_mi = true;

    dx_hand_model_DW.obj_gb.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gb.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_1k[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_4879.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_4879.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4879.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */



    /* Start for RateTransition: '<S176>/Rate Transition' */

    dx_hand_model_B.RateTransition_nv =

      dx_hand_model_P.RateTransition_InitialCondit_lj;



    /* Start for RateTransition: '<S184>/Rate Transition' */

    dx_hand_model_B.RateTransition_op =

      dx_hand_model_P.RateTransition_InitialCondit_fv;



    /* Start for RateTransition: '<S173>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_B.RateTransition_m0[i] =

        dx_hand_model_P.RateTransition_InitialCondit_dt;

    }



    /* End of Start for RateTransition: '<S173>/Rate Transition' */



    /* Start for RateTransition: '<S209>/Rate Transition' */

    dx_hand_model_B.RateTransition_p2 =

      dx_hand_model_P.RateTransition_InitialCondit_an;



    /* Start for RateTransition: '<S179>/Rate Transition' */

    dx_hand_model_B.RateTransition_pk =

      dx_hand_model_P.RateTransition_InitialCondit_fs;



    /* Start for RateTransition: '<S210>/Rate Transition' */

    dx_hand_model_B.RateTransition_no =

      dx_hand_model_P.RateTransition_InitialCondit_do;



    /* Start for RateTransition: '<S180>/Rate Transition' */

    dx_hand_model_B.RateTransition_mi =

      dx_hand_model_P.RateTransition_InitialCondit_dw;



    /* Start for RateTransition: '<S211>/Rate Transition' */

    dx_hand_model_B.RateTransition_c =

      dx_hand_model_P.RateTransition_InitialCondit_lr;



    /* Start for RateTransition: '<S207>/Rate Transition' */

    dx_hand_model_B.RateTransition_cc =

      dx_hand_model_P.RateTransition_InitialCondit_gs;



    /* Start for RateTransition: '<S212>/Rate Transition' */

    dx_hand_model_B.RateTransition_nc =

      dx_hand_model_P.RateTransition_InitialCondit_mz;



    /* Start for RateTransition: '<S208>/Rate Transition' */

    dx_hand_model_B.RateTransition_jg =

      dx_hand_model_P.RateTransition_InitialCondit_gn;



    /* Start for RateTransition: '<S206>/Rate Transition' */

    dx_hand_model_B.RateTransition_e5 =

      dx_hand_model_P.RateTransition_InitialCondit_ez;



    /* Start for RateTransition: '<S171>/Rate Transition' */

    dx_hand_model_B.RateTransition_od =

      dx_hand_model_P.RateTransition_InitialCondit_g5;



    /* Start for RateTransition: '<S199>/Rate Transition' */

    dx_hand_model_B.RateTransition_kg =

      dx_hand_model_P.RateTransition_InitialCondit_az;



    /* Start for RateTransition: '<S198>/Rate Transition' */

    dx_hand_model_B.RateTransition_nm =

      dx_hand_model_P.RateTransition_InitialCondit_jy;



    /* Start for RateTransition: '<S197>/Rate Transition' */

    dx_hand_model_B.RateTransition_cv =

      dx_hand_model_P.RateTransition_InitialCondit_fx;



    /* Start for RateTransition: '<S181>/Rate Transition' */

    dx_hand_model_B.RateTransition_an =

      dx_hand_model_P.RateTransition_InitialCondi_hgr;



    /* Start for RateTransition: '<S170>/Rate Transition' */

    dx_hand_model_B.RateTransition_is =

      dx_hand_model_P.RateTransition_InitialCondit_px;



    /* Start for MATLABSystem: '<S170>/Get Parameter3' */

    dx_hand_model_DW.obj_ln.isInitialized = 0;

    dx_hand_model_DW.objisempty_cy = true;

    dx_hand_model_DW.obj_ln.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ln.isInitialized = 1;

    for (i = 0; i < 26; i++) {

      dx_hand_model_B.cv11[i] = tmp_1j[i];

    }



    dx_hand_model_B.cv11[26] = '\x00';

    ParamGet_dx_hand_model_4903.initialize(dx_hand_model_B.cv11);

    ParamGet_dx_hand_model_4903.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4903.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */



    /* Start for MATLABSystem: '<S171>/Get Parameter3' */

    dx_hand_model_DW.obj_a.isInitialized = 0;

    dx_hand_model_DW.objisempty_j5 = true;

    dx_hand_model_DW.obj_a.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_a.isInitialized = 1;

    for (i = 0; i < 25; i++) {

      dx_hand_model_B.cv12[i] = tmp_1i[i];

    }



    dx_hand_model_B.cv12[25] = '\x00';

    ParamGet_dx_hand_model_4283.initialize(dx_hand_model_B.cv12);

    ParamGet_dx_hand_model_4283.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4283.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */



    /* Start for MATLABSystem: '<S184>/Set Parameter' */

    dx_hand_model_DW.obj_mo.isInitialized = 0;

    dx_hand_model_DW.objisempty_p0 = true;

    dx_hand_model_DW.obj_mo.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_1h[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamSet_dx_hand_model_4323.initialize(dx_hand_model_B.cv7);



    /* End of Start for MATLABSystem: '<S184>/Set Parameter' */



    /* Start for MATLABSystem: '<S184>/Get Parameter3' */

    dx_hand_model_DW.obj_ja.isInitialized = 0;

    dx_hand_model_DW.objisempty_dd = true;

    dx_hand_model_DW.obj_ja.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ja.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_1g[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_4319.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_4319.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4319.set_initial_value

      (ParameterInitialValu_kfaixs2xtf);



    /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */



    /* Start for MATLABSystem: '<S191>/Get Parameter' */

    dx_hand_model_DW.obj_he.isInitialized = 0;

    dx_hand_model_DW.objisempty_gq = true;

    dx_hand_model_DW.obj_he.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_he.isInitialized = 1;

    for (i = 0; i < 19; i++) {

      dx_hand_model_B.cv17[i] = tmp_1f[i];

    }



    dx_hand_model_B.cv17[19] = '\x00';

    ParamGet_dx_hand_model_3254.initialize(dx_hand_model_B.cv17);

    ParamGet_dx_hand_model_3254.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3254.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S191>/Get Parameter' */



    /* Start for MATLABSystem: '<S191>/Get Parameter1' */

    dx_hand_model_DW.obj_nc.isInitialized = 0;

    dx_hand_model_DW.objisempty_co = true;

    dx_hand_model_DW.obj_nc.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_nc.isInitialized = 1;

    for (i = 0; i < 19; i++) {

      dx_hand_model_B.cv17[i] = tmp_1e[i];

    }



    dx_hand_model_B.cv17[19] = '\x00';

    ParamGet_dx_hand_model_3255.initialize(dx_hand_model_B.cv17);

    ParamGet_dx_hand_model_3255.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3255.set_initial_value

      (ParameterInitialV_kfaixs2xtfarg);



    /* End of Start for MATLABSystem: '<S191>/Get Parameter1' */



    /* Start for MATLABSystem: '<S191>/Get Parameter2' */

    dx_hand_model_DW.obj_l4.isInitialized = 0;

    dx_hand_model_DW.objisempty_hb = true;

    dx_hand_model_DW.obj_l4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_l4.isInitialized = 1;

    for (i = 0; i < 21; i++) {

      dx_hand_model_B.cv15[i] = tmp_1d[i];

    }



    dx_hand_model_B.cv15[21] = '\x00';

    ParamGet_dx_hand_model_3256.initialize(dx_hand_model_B.cv15);

    ParamGet_dx_hand_model_3256.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3256.set_initial_value

      (ParameterInitialVa_kfaixs2xtfar);



    /* End of Start for MATLABSystem: '<S191>/Get Parameter2' */



    /* Start for MATLABSystem: '<S191>/Get Parameter3' */

    dx_hand_model_DW.obj_fy.isInitialized = 0;

    dx_hand_model_DW.objisempty_ot = true;

    dx_hand_model_DW.obj_fy.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_fy.isInitialized = 1;

    for (i = 0; i < 16; i++) {

      dx_hand_model_B.cv20[i] = tmp_1c[i];

    }



    dx_hand_model_B.cv20[16] = '\x00';

    ParamGet_dx_hand_model_3257.initialize(dx_hand_model_B.cv20);

    ParamGet_dx_hand_model_3257.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3257.set_initial_value

      (ParameterInitialVal_kfaixs2xtfa);



    /* End of Start for MATLABSystem: '<S191>/Get Parameter3' */



    /* Start for MATLABSystem: '<S191>/Get Parameter4' */

    dx_hand_model_DW.obj_od.isInitialized = 0;

    dx_hand_model_DW.objisempty_l3 = true;

    dx_hand_model_DW.obj_od.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_od.isInitialized = 1;

    for (i = 0; i < 19; i++) {

      dx_hand_model_B.cv17[i] = tmp_1b[i];

    }



    dx_hand_model_B.cv17[19] = '\x00';

    ParamGet_dx_hand_model_3258.initialize(dx_hand_model_B.cv17);

    ParamGet_dx_hand_model_3258.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3258.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S191>/Get Parameter4' */



    /* Start for MATLABSystem: '<S198>/Get Parameter3' */

    dx_hand_model_DW.obj_oyi.isInitialized = 0;

    dx_hand_model_DW.objisempty_lb = true;

    dx_hand_model_DW.obj_oyi.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_oyi.isInitialized = 1;

    for (i = 0; i < 27; i++) {

      dx_hand_model_B.cv10[i] = tmp_1a[i];

    }



    dx_hand_model_B.cv10[27] = '\x00';

    ParamGet_dx_hand_model_4414.initialize(dx_hand_model_B.cv10);

    ParamGet_dx_hand_model_4414.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4414.set_initial_value

      (ParameterInitial_kfaixs2xtfargw);



    /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */



    /* Start for MATLABSystem: '<S199>/Get Parameter3' */

    dx_hand_model_DW.obj_pt.isInitialized = 0;

    dx_hand_model_DW.objisempty_j3 = true;

    dx_hand_model_DW.obj_pt.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pt.isInitialized = 1;

    for (i = 0; i < 27; i++) {

      dx_hand_model_B.cv10[i] = tmp_19[i];

    }



    dx_hand_model_B.cv10[27] = '\x00';

    ParamGet_dx_hand_model_4424.initialize(dx_hand_model_B.cv10);

    ParamGet_dx_hand_model_4424.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4424.set_initial_value

      (dx_han_ParameterInitialValue_kf);



    /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */



    /* Start for MATLABSystem: '<S197>/Get Parameter3' */

    dx_hand_model_DW.obj_pap.isInitialized = 0;

    dx_hand_model_DW.objisempty_km = true;

    dx_hand_model_DW.obj_pap.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pap.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_18[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4434.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4434.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4434.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */



    /* Start for MATLABSystem: '<S206>/Get Parameter3' */

    dx_hand_model_DW.obj_mm.isInitialized = 0;

    dx_hand_model_DW.objisempty_mu = true;

    dx_hand_model_DW.obj_mm.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mm.isInitialized = 1;

    for (i = 0; i < 29; i++) {

      dx_hand_model_B.cv8[i] = tmp_17[i];

    }



    dx_hand_model_B.cv8[29] = '\x00';

    ParamGet_dx_hand_model_4457.initialize(dx_hand_model_B.cv8);

    ParamGet_dx_hand_model_4457.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4457.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */



    /* Start for MATLABSystem: '<S207>/Get Parameter3' */

    dx_hand_model_DW.obj_hx.isInitialized = 0;

    dx_hand_model_DW.objisempty_g2 = true;

    dx_hand_model_DW.obj_hx.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hx.isInitialized = 1;

    for (i = 0; i < 35; i++) {

      dx_hand_model_B.cv2[i] = tmp_16[i];

    }



    dx_hand_model_B.cv2[35] = '\x00';

    ParamGet_dx_hand_model_4472.initialize(dx_hand_model_B.cv2);

    ParamGet_dx_hand_model_4472.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4472.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */



    /* Start for MATLABSystem: '<S208>/Get Parameter3' */

    dx_hand_model_DW.obj_gt.isInitialized = 0;

    dx_hand_model_DW.objisempty_ay = true;

    dx_hand_model_DW.obj_gt.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_gt.isInitialized = 1;

    for (i = 0; i < 34; i++) {

      dx_hand_model_B.cv3[i] = tmp_15[i];

    }



    dx_hand_model_B.cv3[34] = '\x00';

    ParamGet_dx_hand_model_4480.initialize(dx_hand_model_B.cv3);

    ParamGet_dx_hand_model_4480.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4480.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */



    /* Start for MATLABSystem: '<S209>/Get Parameter3' */

    dx_hand_model_DW.obj_oy.isInitialized = 0;

    dx_hand_model_DW.objisempty_bt = true;

    dx_hand_model_DW.obj_oy.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_oy.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_14[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4487.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4487.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4487.set_initial_value(ParameterInitialValue_kfaixs2x);



    /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */



    /* Start for MATLABSystem: '<S210>/Get Parameter3' */

    dx_hand_model_DW.obj_cy.isInitialized = 0;

    dx_hand_model_DW.objisempty_d1 = true;

    dx_hand_model_DW.obj_cy.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_cy.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_13[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4494.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4494.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4494.set_initial_value

      (ParameterInitialValue_kfaixs2xt);



    /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */



    /* Start for MATLABSystem: '<S211>/Get Parameter3' */

    dx_hand_model_DW.obj_of.isInitialized = 0;

    dx_hand_model_DW.objisempty_ca = true;

    dx_hand_model_DW.obj_of.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_of.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_12[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4501.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4501.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4501.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */



    /* Start for MATLABSystem: '<S212>/Get Parameter3' */

    dx_hand_model_DW.obj_lu.isInitialized = 0;

    dx_hand_model_DW.objisempty_ns = true;

    dx_hand_model_DW.obj_lu.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_lu.isInitialized = 1;

    for (i = 0; i < 28; i++) {

      dx_hand_model_B.cv9[i] = tmp_11[i];

    }



    dx_hand_model_B.cv9[28] = '\x00';

    ParamGet_dx_hand_model_4508.initialize(dx_hand_model_B.cv9);

    ParamGet_dx_hand_model_4508.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4508.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */



    /* Start for MATLABSystem: '<S176>/Get Parameter3' */

    dx_hand_model_DW.obj_m0.isInitialized = 0;

    dx_hand_model_DW.objisempty_ii = true;

    dx_hand_model_DW.obj_m0.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_m0.isInitialized = 1;

    for (i = 0; i < 18; i++) {

      dx_hand_model_B.cv18[i] = tmp_10[i];

    }



    dx_hand_model_B.cv18[18] = '\x00';

    ParamGet_dx_hand_model_4518.initialize(dx_hand_model_B.cv18);

    ParamGet_dx_hand_model_4518.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4518.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */



    /* Start for MATLABSystem: '<S179>/Get Parameter3' */

    dx_hand_model_DW.obj_hk.isInitialized = 0;

    dx_hand_model_DW.objisempty_nr = true;

    dx_hand_model_DW.obj_hk.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_hk.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_z[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_4529.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_4529.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4529.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */



    /* Start for MATLABSystem: '<S180>/Get Parameter3' */

    dx_hand_model_DW.obj_ly.isInitialized = 0;

    dx_hand_model_DW.objisempty_do = true;

    dx_hand_model_DW.obj_ly.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ly.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_y[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_4536.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_4536.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4536.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */



    /* Start for MATLABSystem: '<S181>/Get Parameter3' */

    dx_hand_model_DW.obj_nr.isInitialized = 0;

    dx_hand_model_DW.objisempty_kt = true;

    dx_hand_model_DW.obj_nr.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_nr.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_x[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamGet_dx_hand_model_4543.initialize(dx_hand_model_B.cv7);

    ParamGet_dx_hand_model_4543.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4543.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */



    /* Start for RateTransition: '<S279>/Rate Transition' */

    dx_hand_model_B.RateTransition_nk =

      dx_hand_model_P.RateTransition_InitialCondit_ch;



    /* Start for RateTransition: '<S280>/Rate Transition' */

    dx_hand_model_B.RateTransition_mpf =

      dx_hand_model_P.RateTransition_InitialCondit_lb;



    /* Start for RateTransition: '<S281>/Rate Transition' */

    dx_hand_model_B.RateTransition_ko =

      dx_hand_model_P.RateTransition_InitialCondit_es;



    /* Start for RateTransition: '<S268>/Rate Transition' */

    dx_hand_model_B.RateTransition_k0 =

      dx_hand_model_P.RateTransition_InitialCondit_hc;



    /* Start for RateTransition: '<S269>/Rate Transition' */

    dx_hand_model_B.RateTransition_db =

      dx_hand_model_P.RateTransition_InitialCondit_mq;



    /* Start for RateTransition: '<S270>/Rate Transition' */

    dx_hand_model_B.RateTransition_p0 =

      dx_hand_model_P.RateTransition_InitialCondit_dv;



    /* Start for RateTransition: '<S271>/Rate Transition' */

    dx_hand_model_B.RateTransition_g2 =

      dx_hand_model_P.RateTransition_InitialCondit_n3;



    /* Start for RateTransition: '<S272>/Rate Transition' */

    dx_hand_model_B.RateTransition_ek =

      dx_hand_model_P.RateTransition_InitialCondit_ap;



    /* Start for RateTransition: '<S282>/Rate Transition' */

    dx_hand_model_B.RateTransition_gi =

      dx_hand_model_P.RateTransition_InitialCondit_p1;



    /* Start for RateTransition: '<S283>/Rate Transition' */

    dx_hand_model_B.RateTransition_nz =

      dx_hand_model_P.RateTransition_InitialCondit_hr;



    /* Start for RateTransition: '<S285>/Rate Transition' */

    dx_hand_model_B.RateTransition_kl =

      dx_hand_model_P.RateTransition_InitialCondit_ab;



    /* Start for RateTransition: '<S284>/Rate Transition' */

    dx_hand_model_B.RateTransition_jz =

      dx_hand_model_P.RateTransition_InitialCondit_kb;



    /* Start for MATLABSystem: '<S240>/Set Parameter' */

    dx_hand_model_DW.obj_pb.isInitialized = 0;

    dx_hand_model_DW.objisempty_c = true;

    dx_hand_model_DW.obj_pb.isInitialized = 1;

    for (i = 0; i < 30; i++) {

      dx_hand_model_B.cv7[i] = tmp_w[i];

    }



    dx_hand_model_B.cv7[30] = '\x00';

    ParamSet_dx_hand_model_4969.initialize(dx_hand_model_B.cv7);



    /* End of Start for MATLABSystem: '<S240>/Set Parameter' */



    /* Start for RateTransition: '<S314>/Rate Transition' */

    dx_hand_model_B.RateTransition_ap =

      dx_hand_model_P.RateTransition_InitialCondi_dfu;



    /* Start for MATLABSystem: '<S314>/Get Parameter3' */

    dx_hand_model_DW.obj_l.isInitialized = 0;

    dx_hand_model_DW.objisempty_e = true;

    dx_hand_model_DW.obj_l.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_l.isInitialized = 1;

    for (i = 0; i < 26; i++) {

      dx_hand_model_B.cv11[i] = tmp_v[i];

    }



    dx_hand_model_B.cv11[26] = '\x00';

    ParamGet_dx_hand_model_3810.initialize(dx_hand_model_B.cv11);

    ParamGet_dx_hand_model_3810.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3810.set_initial_value(d_ParameterInitia_or);



    /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */



    /* Start for MATLABSystem: '<S315>/Get Parameter3' */

    dx_hand_model_DW.obj.isInitialized = 0;

    dx_hand_model_DW.objisempty = true;

    dx_hand_model_DW.obj.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj.isInitialized = 1;

    for (i = 0; i < 27; i++) {

      dx_hand_model_B.cv10[i] = tmp_u[i];

    }



    dx_hand_model_B.cv10[27] = '\x00';

    ParamGet_dx_hand_model_3817.initialize(dx_hand_model_B.cv10);

    ParamGet_dx_hand_model_3817.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3817.set_initial_value(d_ParameterInitia_p);



    /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */



    /* Start for RateTransition: '<S266>/Rate Transition' */

    dx_hand_model_B.RateTransition_gb =

      dx_hand_model_P.RateTransition_InitialCondit_i5;



    /* Start for MATLABSystem: '<S266>/Get Parameter3' */

    dx_hand_model_DW.obj_d.isInitialized = 0;

    dx_hand_model_DW.objisempty_m2 = true;

    dx_hand_model_DW.obj_d.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_d.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_t[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    ParamGet_dx_hand_model_4863.initialize(dx_hand_model_B.cv6);

    ParamGet_dx_hand_model_4863.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4863.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */



    /* Start for RateTransition: '<S267>/Rate Transition' */

    dx_hand_model_B.RateTransition_ko0 =

      dx_hand_model_P.RateTransition_InitialCondi_hjl;



    /* Start for MATLABSystem: '<S267>/Get Parameter3' */

    dx_hand_model_DW.obj_jv.isInitialized = 0;

    dx_hand_model_DW.objisempty_gg = true;

    dx_hand_model_DW.obj_jv.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_jv.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp_s[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_3828.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_3828.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3828.set_initial_value(d_ParameterInitia_c);



    /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */



    /* Start for MATLABSystem: '<S268>/Set Parameter' */

    dx_hand_model_DW.obj_b3.isInitialized = 0;

    dx_hand_model_DW.objisempty_iw = true;

    dx_hand_model_DW.obj_b3.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_r[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_2966.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S268>/Set Parameter' */



    /* Start for MATLABSystem: '<S268>/Get Parameter3' */

    dx_hand_model_DW.obj_mk.isInitialized = 0;

    dx_hand_model_DW.objisempty_k = true;

    dx_hand_model_DW.obj_mk.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_mk.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_q[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_2962.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_2962.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2962.set_initial_value(d_ParameterInitia_g);



    /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */



    /* Start for MATLABSystem: '<S269>/Set Parameter' */

    dx_hand_model_DW.obj_jq.isInitialized = 0;

    dx_hand_model_DW.objisempty_n = true;

    dx_hand_model_DW.obj_jq.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_p[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_3023.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S269>/Set Parameter' */



    /* Start for MATLABSystem: '<S269>/Get Parameter3' */

    dx_hand_model_DW.obj_jc.isInitialized = 0;

    dx_hand_model_DW.objisempty_nv = true;

    dx_hand_model_DW.obj_jc.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_jc.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_o[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_3019.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_3019.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3019.set_initial_value(d_ParameterInitia_d);



    /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */



    /* Start for MATLABSystem: '<S270>/Set Parameter' */

    dx_hand_model_DW.obj_aq.isInitialized = 0;

    dx_hand_model_DW.objisempty_bl = true;

    dx_hand_model_DW.obj_aq.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_n[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_3042.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S270>/Set Parameter' */



    /* Start for MATLABSystem: '<S270>/Get Parameter3' */

    dx_hand_model_DW.obj_e.isInitialized = 0;

    dx_hand_model_DW.objisempty_h = true;

    dx_hand_model_DW.obj_e.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_e.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_m[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_3038.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_3038.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3038.set_initial_value(d_ParameterInitia_m);



    /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */



    /* Start for MATLABSystem: '<S271>/Set Parameter' */

    dx_hand_model_DW.obj_mg.isInitialized = 0;

    dx_hand_model_DW.objisempty_ic = true;

    dx_hand_model_DW.obj_mg.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_l[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_4262.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S271>/Set Parameter' */



    /* Start for MATLABSystem: '<S271>/Get Parameter3' */

    dx_hand_model_DW.obj_b.isInitialized = 0;

    dx_hand_model_DW.objisempty_m = true;

    dx_hand_model_DW.obj_b.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_b.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_k[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_4259.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_4259.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4259.set_initial_value(d_ParameterInitia_o);



    /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */



    /* Start for MATLABSystem: '<S272>/Set Parameter' */

    dx_hand_model_DW.obj_di.isInitialized = 0;

    dx_hand_model_DW.objisempty_gy = true;

    dx_hand_model_DW.obj_di.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_j[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamSet_dx_hand_model_4270.initialize(dx_hand_model_B.cv5);



    /* End of Start for MATLABSystem: '<S272>/Set Parameter' */



    /* Start for MATLABSystem: '<S272>/Get Parameter3' */

    dx_hand_model_DW.obj_g.isInitialized = 0;

    dx_hand_model_DW.objisempty_j = true;

    dx_hand_model_DW.obj_g.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_g.isInitialized = 1;

    for (i = 0; i < 32; i++) {

      dx_hand_model_B.cv5[i] = tmp_i[i];

    }



    dx_hand_model_B.cv5[32] = '\x00';

    ParamGet_dx_hand_model_4267.initialize(dx_hand_model_B.cv5);

    ParamGet_dx_hand_model_4267.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4267.set_initial_value(d_ParameterInitia_l);



    /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */



    /* Start for MATLABSystem: '<S230>/Get Parameter' */

    dx_hand_model_DW.obj_p.isInitialized = 0;

    dx_hand_model_DW.objisempty_o = true;

    dx_hand_model_DW.obj_p.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_p.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_h[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_3442.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_3442.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3442.set_initial_value(d_ParameterInitia_kh);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter' */



    /* Start for MATLABSystem: '<S230>/Get Parameter2' */

    dx_hand_model_DW.obj_m.isInitialized = 0;

    dx_hand_model_DW.objisempty_b = true;

    dx_hand_model_DW.obj_m.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_m.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_g[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_3444.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_3444.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3444.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */



    /* Start for MATLABSystem: '<S230>/Get Parameter3' */

    dx_hand_model_DW.obj_o.isInitialized = 0;

    dx_hand_model_DW.objisempty_i = true;

    dx_hand_model_DW.obj_o.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_o.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_f[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_3445.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_3445.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3445.set_initial_value(d_ParameterInitia_op);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */



    /* Start for MATLABSystem: '<S230>/Get Parameter1' */

    dx_hand_model_DW.obj_c.isInitialized = 0;

    dx_hand_model_DW.objisempty_g = true;

    dx_hand_model_DW.obj_c.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_c.isInitialized = 1;

    for (i = 0; i < 18; i++) {

      dx_hand_model_B.cv18[i] = tmp_e[i];

    }



    dx_hand_model_B.cv18[18] = '\x00';

    ParamGet_dx_hand_model_3443.initialize(dx_hand_model_B.cv18);

    ParamGet_dx_hand_model_3443.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3443.set_initial_value

      (d_ParameterInitialValue_kfaixs2);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */



    /* Start for MATLABSystem: '<S230>/Get Parameter4' */

    dx_hand_model_DW.obj_j.isInitialized = 0;

    dx_hand_model_DW.objisempty_a = true;

    dx_hand_model_DW.obj_j.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_j.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_d[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_3446.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_3446.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3446.set_initial_value(d_ParameterInitia_k5);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */



    /* Start for MATLABSystem: '<S230>/Get Parameter5' */

    dx_hand_model_DW.obj_p2.isInitialized = 0;

    dx_hand_model_DW.objisempty_b5 = true;

    dx_hand_model_DW.obj_p2.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_p2.isInitialized = 1;

    for (i = 0; i < 18; i++) {

      dx_hand_model_B.cv18[i] = tmp_c[i];

    }



    dx_hand_model_B.cv18[18] = '\x00';

    ParamGet_dx_hand_model_3454.initialize(dx_hand_model_B.cv18);

    ParamGet_dx_hand_model_3454.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3454.set_initial_value

      (d_ParameterInitialValue_kfaixs2);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */



    /* Start for MATLABSystem: '<S230>/Get Parameter6' */

    dx_hand_model_DW.obj_ca.isInitialized = 0;

    dx_hand_model_DW.objisempty_cu = true;

    dx_hand_model_DW.obj_ca.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_ca.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_b[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_4055.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_4055.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4055.set_initial_value(d_ParameterInitia_k);



    /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */



    /* Start for Enabled SubSystem: '<S239>/Subsystem2' */



    /* Start for ToFile: '<S310>/To File' */

    {

      FILE *fp = (NULL);

      char fileName[509] = "thumb_force.mat";

      if ((fp = fopen(fileName, "wb")) == (NULL)) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error creating .mat file thumb_force.mat");

        return;

      }



      if (rt_WriteMat4FileHeader(fp, 2 + 1, 0, "forza_gravita")) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error writing mat file header to file thumb_force.mat");

        return;

      }



      dx_hand_model_DW.ToFile_IWORK.Count = 0;

      dx_hand_model_DW.ToFile_IWORK.Decimation = -1;

      dx_hand_model_DW.ToFile_PWORK.FilePtr = fp;

    }



    /* End of Start for SubSystem: '<S239>/Subsystem2' */



    /* Start for Enabled SubSystem: '<S1>/Thumb Exo Structure' */



    /* Start for ToFile: '<S13>/To File' */

    {

      FILE *fp = (NULL);

      char fileName[509] = "exo_points.mat";

      if ((fp = fopen(fileName, "wb")) == (NULL)) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error creating .mat file exo_points.mat");

        return;

      }



      if (rt_WriteMat4FileHeader(fp, 61 + 1, 0, "points")) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error writing mat file header to file exo_points.mat");

        return;

      }



      dx_hand_model_DW.ToFile_IWORK_l.Count = 0;

      dx_hand_model_DW.ToFile_IWORK_l.Decimation = -1;

      dx_hand_model_DW.ToFile_PWORK_p.FilePtr = fp;

    }



    /* End of Start for SubSystem: '<S1>/Thumb Exo Structure' */



    /* Start for RateTransition: '<S10>/Rate Transition' */

    dx_hand_model_B.RateTransition_lw =

      dx_hand_model_P.RateTransition_InitialCondit_nq;



    /* Start for Atomic SubSystem: '<S14>/Publish1' */

    /* Start for MATLABSystem: '<S17>/SinkBlock' */

    dx_hand_model_DW.obj_jct.isInitialized = 0;

    dx_hand_model_DW.objisempty_jr = true;

    dx_hand_model_DW.obj_jct.isInitialized = 1;

    for (i = 0; i < 15; i++) {

      tmp_3m[i] = tmp_a[i];

    }



    tmp_3m[15] = '\x00';

    Pub_dx_hand_model_3422.createPublisher(tmp_3m, dx_hand_model_MessageQueueLen);



    /* End of Start for MATLABSystem: '<S17>/SinkBlock' */

    /* End of Start for SubSystem: '<S14>/Publish1' */



    /* Start for MATLABSystem: '<S4>/Get Parameter1' */

    dx_hand_model_DW.obj_b4.isInitialized = 0;

    dx_hand_model_DW.objisempty_kf = true;

    dx_hand_model_DW.obj_b4.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_b4.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp_9[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_4946.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_4946.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4946.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */



    /* Start for MATLABSystem: '<S24>/Get Parameter3' */

    dx_hand_model_DW.obj_l3.isInitialized = 0;

    dx_hand_model_DW.objisempty_mb = true;

    dx_hand_model_DW.obj_l3.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_l3.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp_8[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_3210.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_3210.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_3210.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */



    /* Start for RateTransition: '<S10>/Rate Transition1' */

    dx_hand_model_B.RateTransition1_e =

      dx_hand_model_P.RateTransition1_InitialCondit_j;



    /* Start for S-Function (sdspToNetwork): '<S10>/UDP Send' */

    sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

    CreateUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

    if (*sErr == 0) {

      LibCreate_Network(&dx_hand_model_DW.UDPSend_NetworkLib[0U], 1, "0.0.0.0",

                        -1, "10.24.4.91", dx_hand_model_P.UDPSend_remotePort,

                        8192, 1, 0);

    }



    if (*sErr == 0) {

      LibStart(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

    }



    if (*sErr != 0) {

      DestroyUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

      if (*sErr != 0) {

        rtmSetErrorStatus(dx_hand_model_M, sErr);

        rtmSetStopRequested(dx_hand_model_M, 1);

      }

    }



    /* End of Start for S-Function (sdspToNetwork): '<S10>/UDP Send' */



    /* Start for MATLABSystem: '<S10>/Get Parameter1' */

    dx_hand_model_DW.obj_h.isInitialized = 0;

    dx_hand_model_DW.objisempty_p = true;

    dx_hand_model_DW.obj_h.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_h.isInitialized = 1;

    for (i = 0; i < 20; i++) {

      dx_hand_model_B.cv16[i] = tmp_7[i];

    }



    dx_hand_model_B.cv16[20] = '\x00';

    ParamGet_dx_hand_model_4942.initialize(dx_hand_model_B.cv16);

    ParamGet_dx_hand_model_4942.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_4942.set_initial_value

      (dx_hand_m_ParameterInitialValue);



    /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */



    /* Start for MATLABSystem: '<S10>/Get Parameter3' */

    dx_hand_model_DW.obj_k.isInitialized = 0;

    dx_hand_model_DW.objisempty_cs = true;

    dx_hand_model_DW.obj_k.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_k.isInitialized = 1;

    for (i = 0; i < 14; i++) {

      tmp_3l[i] = tmp_6[i];

    }



    tmp_3l[14] = '\x00';

    ParamGet_dx_hand_model_2544.initialize(tmp_3l);

    ParamGet_dx_hand_model_2544.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2544.set_initial_value

      (ParameterInitia_kfaixs2xtfargwk);



    /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */



    /* Start for RateTransition: '<S221>/Rate Transition' */

    dx_hand_model_B.RateTransition_dwi =

      dx_hand_model_P.RateTransition_InitialCondit_gu;



    /* Start for RateTransition: '<S222>/Rate Transition' */

    dx_hand_model_B.RateTransition_ec =

      dx_hand_model_P.RateTransition_InitialCondit_ep;



    /* Start for RateTransition: '<S223>/Rate Transition' */

    dx_hand_model_B.RateTransition_lo =

      dx_hand_model_P.RateTransition_InitialCondit_dy;



    /* Start for RateTransition: '<S224>/Rate Transition' */

    dx_hand_model_B.RateTransition_dbs =

      dx_hand_model_P.RateTransition_InitialCondi_mrn;



    /* Start for RateTransition: '<S225>/Rate Transition' */

    dx_hand_model_B.RateTransition_j2 =

      dx_hand_model_P.RateTransition_InitialCondit_oh;



    /* Start for RateTransition: '<S226>/Rate Transition' */

    dx_hand_model_B.RateTransition_l2 =

      dx_hand_model_P.RateTransition_InitialCondit_jn;



    /* Start for Atomic SubSystem: '<S215>/Publish1' */

    /* Start for MATLABSystem: '<S219>/SinkBlock' */

    dx_hand_model_DW.obj_br.isInitialized = 0;

    dx_hand_model_DW.objisempty_o3 = true;

    dx_hand_model_DW.obj_br.isInitialized = 1;

    for (i = 0; i < 31; i++) {

      dx_hand_model_B.cv6[i] = tmp_5[i];

    }



    dx_hand_model_B.cv6[31] = '\x00';

    Pub_dx_hand_model_2867.createPublisher(dx_hand_model_B.cv6,

      dx_hand_model_MessageQueueLen);



    /* End of Start for MATLABSystem: '<S219>/SinkBlock' */

    /* End of Start for SubSystem: '<S215>/Publish1' */



    /* Start for MATLABSystem: '<S221>/Get Parameter3' */

    dx_hand_model_DW.obj_f.isInitialized = 0;

    dx_hand_model_DW.objisempty_al = true;

    dx_hand_model_DW.obj_f.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_f.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_4[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_2723.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_2723.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2723.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */



    /* Start for MATLABSystem: '<S222>/Get Parameter3' */

    dx_hand_model_DW.obj_n.isInitialized = 0;

    dx_hand_model_DW.objisempty_mw = true;

    dx_hand_model_DW.obj_n.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_n.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_3[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_2736.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_2736.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2736.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */



    /* Start for MATLABSystem: '<S223>/Get Parameter3' */

    dx_hand_model_DW.obj_cd.isInitialized = 0;

    dx_hand_model_DW.objisempty_f = true;

    dx_hand_model_DW.obj_cd.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_cd.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp_2[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_2745.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_2745.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2745.set_initial_value

      (dx_hand_ParameterInitialValue_k);



    /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */



    /* Start for MATLABSystem: '<S224>/Get Parameter3' */

    dx_hand_model_DW.obj_pa.isInitialized = 0;

    dx_hand_model_DW.objisempty_d = true;

    dx_hand_model_DW.obj_pa.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_pa.isInitialized = 1;

    for (i = 0; i < 21; i++) {

      dx_hand_model_B.cv15[i] = tmp_1[i];

    }



    dx_hand_model_B.cv15[21] = '\x00';

    ParamGet_dx_hand_model_2754.initialize(dx_hand_model_B.cv15);

    ParamGet_dx_hand_model_2754.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2754.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */



    /* Start for MATLABSystem: '<S225>/Get Parameter3' */

    dx_hand_model_DW.obj_bm.isInitialized = 0;

    dx_hand_model_DW.objisempty_l = true;

    dx_hand_model_DW.obj_bm.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_bm.isInitialized = 1;

    for (i = 0; i < 22; i++) {

      dx_hand_model_B.cv14[i] = tmp_0[i];

    }



    dx_hand_model_B.cv14[22] = '\x00';

    ParamGet_dx_hand_model_2762.initialize(dx_hand_model_B.cv14);

    ParamGet_dx_hand_model_2762.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2762.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */



    /* Start for MATLABSystem: '<S226>/Get Parameter3' */

    dx_hand_model_DW.obj_g1.isInitialized = 0;

    dx_hand_model_DW.objisempty_nb = true;

    dx_hand_model_DW.obj_g1.SampleTime = dx_hand_model_P.update_param;

    dx_hand_model_DW.obj_g1.isInitialized = 1;

    for (i = 0; i < 23; i++) {

      dx_hand_model_B.cv13[i] = tmp[i];

    }



    dx_hand_model_B.cv13[23] = '\x00';

    ParamGet_dx_hand_model_2768.initialize(dx_hand_model_B.cv13);

    ParamGet_dx_hand_model_2768.initialize_error_codes(0U, 1U, 2U, 3U);

    ParamGet_dx_hand_model_2768.set_initial_value

      (dx_ha_ParameterInitialValue_kfa);



    /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */

  }



  {

    int32_T i;



    /* InitializeConditions for RateTransition: '<S33>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0 =

      dx_hand_model_P.RateTransition_InitialCondition;



    /* InitializeConditions for DiscreteTransferFcn: '<S39>/Filt 4' */

    dx_hand_model_DW.Filt4_states[0] = dx_hand_model_P.Filt4_InitialStates;

    dx_hand_model_DW.Filt4_states[1] = dx_hand_model_P.Filt4_InitialStates;

    dx_hand_model_DW.Filt4_states[2] = dx_hand_model_P.Filt4_InitialStates;

    dx_hand_model_DW.Filt4_states[3] = dx_hand_model_P.Filt4_InitialStates;



    /* InitializeConditions for RateTransition: '<S39>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_p =

      dx_hand_model_P.RateTransition_InitialConditi_m;



    /* InitializeConditions for RateTransition: '<S4>/Rate Transition1' */

    dx_hand_model_DW.RateTransition1_Buffer0 =

      dx_hand_model_P.RateTransition1_InitialConditio;



    /* InitializeConditions for Delay: '<S4>/Delay' */

    for (i = 0; i < 2700; i++) {

      dx_hand_model_DW.Delay_DSTATE[i] = dx_hand_model_P.Delay_InitialCondition;

    }



    /* End of InitializeConditions for Delay: '<S4>/Delay' */



    /* InitializeConditions for RateTransition: '<S50>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_j =

      dx_hand_model_P.RateTransition_InitialConditi_e;



    /* InitializeConditions for RateTransition: '<S37>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_DW.RateTransition_Buffer0_e[i] =

        dx_hand_model_P.RateTransition_InitialCondit_e5;

    }



    /* End of InitializeConditions for RateTransition: '<S37>/Rate Transition' */



    /* InitializeConditions for UnitDelay: '<S36>/Unit Delay3' */

    dx_hand_model_DW.UnitDelay3_DSTATE[0] =

      dx_hand_model_P.UnitDelay3_InitialCondition[0];

    dx_hand_model_DW.UnitDelay3_DSTATE[1] =

      dx_hand_model_P.UnitDelay3_InitialCondition[1];



    /* InitializeConditions for UnitDelay: '<S36>/Unit Delay1' */

    dx_hand_model_DW.UnitDelay1_DSTATE =

      dx_hand_model_P.UnitDelay1_InitialCondition;



    /* InitializeConditions for Memory: '<S39>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput[0] =

      dx_hand_model_P.Memory_InitialCondition[0];

    dx_hand_model_DW.Memory_PreviousInput[1] =

      dx_hand_model_P.Memory_InitialCondition[1];

    dx_hand_model_DW.Memory_PreviousInput[2] =

      dx_hand_model_P.Memory_InitialCondition[2];

    dx_hand_model_DW.Memory_PreviousInput[3] =

      dx_hand_model_P.Memory_InitialCondition[3];



    /* InitializeConditions for RateTransition: '<S69>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_a =

      dx_hand_model_P.RateTransition_InitialConditi_l;



    /* InitializeConditions for DiscreteTransferFcn: '<S27>/Filt 4' */

    dx_hand_model_DW.Filt4_states_p = dx_hand_model_P.Filt4_InitialStates_b;



    /* InitializeConditions for RateTransition: '<S24>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_l =

      dx_hand_model_P.RateTransition_InitialConditi_i;



    /* InitializeConditions for RateTransition: '<S76>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_h =

      dx_hand_model_P.RateTransition_InitialCondit_l4;



    /* InitializeConditions for RateTransition: '<S70>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_f =

      dx_hand_model_P.RateTransition_InitialConditi_g;



    /* InitializeConditions for DiscreteTransferFcn: '<S26>/Filt 4' */

    dx_hand_model_DW.Filt4_states_e = dx_hand_model_P.Filt4_InitialStates_e;



    /* InitializeConditions for RateTransition: '<S77>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_hi =

      dx_hand_model_P.RateTransition_InitialConditi_f;



    /* InitializeConditions for RateTransition: '<S71>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_eo =

      dx_hand_model_P.RateTransition_InitialConditi_b;



    /* InitializeConditions for UnitDelay: '<S63>/UD' */

    dx_hand_model_DW.UD_DSTATE = dx_hand_model_P.DiscreteDerivative2_ICPrevScale;



    /* InitializeConditions for RateTransition: '<S67>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_k =

      dx_hand_model_P.RateTransition_InitialConditi_d;



    /* InitializeConditions for UnitDelay: '<S61>/UD' */

    dx_hand_model_DW.UD_DSTATE_e =

      dx_hand_model_P.DiscreteDerivative_ICPrevScaled;



    /* InitializeConditions for RateTransition: '<S72>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_lg =

      dx_hand_model_P.RateTransition_InitialCondit_df;



    /* InitializeConditions for UnitDelay: '<S64>/UD' */

    dx_hand_model_DW.UD_DSTATE_h =

      dx_hand_model_P.DiscreteDerivative3_ICPrevScale;



    /* InitializeConditions for RateTransition: '<S68>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_d =

      dx_hand_model_P.RateTransition_InitialConditi_h;



    /* InitializeConditions for UnitDelay: '<S62>/UD' */

    dx_hand_model_DW.UD_DSTATE_d =

      dx_hand_model_P.DiscreteDerivative1_ICPrevScale;



    /* InitializeConditions for RateTransition: '<S66>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_fj =

      dx_hand_model_P.RateTransition_InitialCondit_mr;



    /* InitializeConditions for RateTransition: '<S34>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_b =

      dx_hand_model_P.RateTransition_InitialCondit_le;



    /* InitializeConditions for RateTransition: '<S47>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_jl =

      dx_hand_model_P.RateTransition_InitialConditi_o;



    /* InitializeConditions for RateTransition: '<S46>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_g =

      dx_hand_model_P.RateTransition_InitialConditi_n;



    /* InitializeConditions for RateTransition: '<S45>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kp =

      dx_hand_model_P.RateTransition_InitialCondit_ml;



    /* InitializeConditions for RateTransition: '<S41>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_k1 =

      dx_hand_model_P.RateTransition_InitialConditi_a;



    /* InitializeConditions for RateTransition: '<S78>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_m =

      dx_hand_model_P.RateTransition_InitialConditi_c;



    /* InitializeConditions for DiscreteTransferFcn: '<S84>/Filt 4' */

    dx_hand_model_DW.Filt4_states_g[0] = dx_hand_model_P.Filt4_InitialStates_n;

    dx_hand_model_DW.Filt4_states_g[1] = dx_hand_model_P.Filt4_InitialStates_n;

    dx_hand_model_DW.Filt4_states_g[2] = dx_hand_model_P.Filt4_InitialStates_n;

    dx_hand_model_DW.Filt4_states_g[3] = dx_hand_model_P.Filt4_InitialStates_n;



    /* InitializeConditions for RateTransition: '<S84>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_c =

      dx_hand_model_P.RateTransition_InitialCondit_h1;



    /* InitializeConditions for RateTransition: '<S92>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_mu =

      dx_hand_model_P.RateTransition_InitialConditi_j;



    /* InitializeConditions for RateTransition: '<S81>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_DW.RateTransition_Buffer0_dg[i] =

        dx_hand_model_P.RateTransition_InitialCondit_ho;

    }



    /* End of InitializeConditions for RateTransition: '<S81>/Rate Transition' */



    /* InitializeConditions for UnitDelay: '<S80>/Unit Delay3' */

    dx_hand_model_DW.UnitDelay3_DSTATE_k[0] =

      dx_hand_model_P.UnitDelay3_InitialCondition_e[0];

    dx_hand_model_DW.UnitDelay3_DSTATE_k[1] =

      dx_hand_model_P.UnitDelay3_InitialCondition_e[1];



    /* InitializeConditions for UnitDelay: '<S80>/Unit Delay1' */

    dx_hand_model_DW.UnitDelay1_DSTATE_e =

      dx_hand_model_P.UnitDelay1_InitialCondition_d;



    /* InitializeConditions for Memory: '<S84>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput_k[0] =

      dx_hand_model_P.Memory_InitialCondition_g[0];

    dx_hand_model_DW.Memory_PreviousInput_k[1] =

      dx_hand_model_P.Memory_InitialCondition_g[1];

    dx_hand_model_DW.Memory_PreviousInput_k[2] =

      dx_hand_model_P.Memory_InitialCondition_g[2];

    dx_hand_model_DW.Memory_PreviousInput_k[3] =

      dx_hand_model_P.Memory_InitialCondition_g[3];



    /* InitializeConditions for RateTransition: '<S119>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_n =

      dx_hand_model_P.RateTransition_InitialCondit_hj;



    /* InitializeConditions for DiscreteTransferFcn: '<S29>/Filt 4' */

    dx_hand_model_DW.Filt4_states_n = dx_hand_model_P.Filt4_InitialStates_ey;



    /* InitializeConditions for RateTransition: '<S87>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_nl =

      dx_hand_model_P.RateTransition_InitialCondit_fa;



    /* InitializeConditions for RateTransition: '<S120>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_az =

      dx_hand_model_P.RateTransition_InitialCondit_oz;



    /* InitializeConditions for DiscreteTransferFcn: '<S28>/Filt 4' */

    dx_hand_model_DW.Filt4_states_b = dx_hand_model_P.Filt4_InitialStates_j;



    /* InitializeConditions for RateTransition: '<S88>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_jv =

      dx_hand_model_P.RateTransition_InitialCondit_lg;



    /* InitializeConditions for RateTransition: '<S121>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_at =

      dx_hand_model_P.RateTransition_InitialCondit_dc;



    /* InitializeConditions for UnitDelay: '<S113>/UD' */

    dx_hand_model_DW.UD_DSTATE_l =

      dx_hand_model_P.DiscreteDerivative2_ICPrevSca_g;



    /* InitializeConditions for RateTransition: '<S117>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_bq =

      dx_hand_model_P.RateTransition_InitialConditi_p;



    /* InitializeConditions for UnitDelay: '<S111>/UD' */

    dx_hand_model_DW.UD_DSTATE_f =

      dx_hand_model_P.DiscreteDerivative_ICPrevScal_e;



    /* InitializeConditions for RateTransition: '<S122>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_i =

      dx_hand_model_P.RateTransition_InitialCondit_eh;



    /* InitializeConditions for UnitDelay: '<S114>/UD' */

    dx_hand_model_DW.UD_DSTATE_f0 =

      dx_hand_model_P.DiscreteDerivative3_ICPrevSca_m;



    /* InitializeConditions for RateTransition: '<S118>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_no =

      dx_hand_model_P.RateTransition_InitialCondit_ie;



    /* InitializeConditions for UnitDelay: '<S112>/UD' */

    dx_hand_model_DW.UD_DSTATE_dy =

      dx_hand_model_P.DiscreteDerivative1_ICPrevSca_p;



    /* InitializeConditions for RateTransition: '<S116>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_lh =

      dx_hand_model_P.RateTransition_InitialCondit_f5;



    /* InitializeConditions for RateTransition: '<S79>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ex =

      dx_hand_model_P.RateTransition_InitialCondit_co;



    /* InitializeConditions for RateTransition: '<S109>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_bv =

      dx_hand_model_P.RateTransition_InitialCondit_j1;



    /* InitializeConditions for RateTransition: '<S108>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_co =

      dx_hand_model_P.RateTransition_InitialConditi_k;



    /* InitializeConditions for RateTransition: '<S107>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_py =

      dx_hand_model_P.RateTransition_InitialCondit_ks;



    /* InitializeConditions for RateTransition: '<S89>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_gb =

      dx_hand_model_P.RateTransition_InitialCondit_h4;



    /* InitializeConditions for RateTransition: '<S124>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_iv =

      dx_hand_model_P.RateTransition_InitialCondit_n1;



    /* InitializeConditions for DiscreteTransferFcn: '<S131>/Filt 4' */

    dx_hand_model_DW.Filt4_states_k[0] = dx_hand_model_P.Filt4_InitialStates_c;

    dx_hand_model_DW.Filt4_states_k[1] = dx_hand_model_P.Filt4_InitialStates_c;

    dx_hand_model_DW.Filt4_states_k[2] = dx_hand_model_P.Filt4_InitialStates_c;

    dx_hand_model_DW.Filt4_states_k[3] = dx_hand_model_P.Filt4_InitialStates_c;



    /* InitializeConditions for RateTransition: '<S131>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_be =

      dx_hand_model_P.RateTransition_InitialCondit_by;



    /* InitializeConditions for RateTransition: '<S139>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_bz =

      dx_hand_model_P.RateTransition_InitialCondit_ey;



    /* InitializeConditions for RateTransition: '<S128>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_DW.RateTransition_Buffer0_k3[i] =

        dx_hand_model_P.RateTransition_InitialCondit_kp;

    }



    /* End of InitializeConditions for RateTransition: '<S128>/Rate Transition' */



    /* InitializeConditions for UnitDelay: '<S127>/Unit Delay3' */

    dx_hand_model_DW.UnitDelay3_DSTATE_kr[0] =

      dx_hand_model_P.UnitDelay3_InitialCondition_eg[0];

    dx_hand_model_DW.UnitDelay3_DSTATE_kr[1] =

      dx_hand_model_P.UnitDelay3_InitialCondition_eg[1];



    /* InitializeConditions for UnitDelay: '<S127>/Unit Delay1' */

    dx_hand_model_DW.UnitDelay1_DSTATE_g =

      dx_hand_model_P.UnitDelay1_InitialCondition_dx;



    /* InitializeConditions for Memory: '<S131>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput_kw[0] =

      dx_hand_model_P.Memory_InitialCondition_a[0];

    dx_hand_model_DW.Memory_PreviousInput_kw[1] =

      dx_hand_model_P.Memory_InitialCondition_a[1];

    dx_hand_model_DW.Memory_PreviousInput_kw[2] =

      dx_hand_model_P.Memory_InitialCondition_a[2];

    dx_hand_model_DW.Memory_PreviousInput_kw[3] =

      dx_hand_model_P.Memory_InitialCondition_a[3];



    /* InitializeConditions for RateTransition: '<S164>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_gk =

      dx_hand_model_P.RateTransition_InitialCondit_nj;



    /* InitializeConditions for DiscreteTransferFcn: '<S30>/Filt 4' */

    dx_hand_model_DW.Filt4_states_i = dx_hand_model_P.Filt4_InitialStates_i;



    /* InitializeConditions for RateTransition: '<S134>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_o =

      dx_hand_model_P.RateTransition_InitialCondit_da;



    /* InitializeConditions for RateTransition: '<S165>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ml =

      dx_hand_model_P.RateTransition_InitialCondit_oe;



    /* InitializeConditions for RateTransition: '<S135>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_hy =

      dx_hand_model_P.RateTransition_InitialCondit_hg;



    /* InitializeConditions for RateTransition: '<S166>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_bh =

      dx_hand_model_P.RateTransition_InitialCondit_ag;



    /* InitializeConditions for UnitDelay: '<S158>/UD' */

    dx_hand_model_DW.UD_DSTATE_c =

      dx_hand_model_P.DiscreteDerivative2_ICPrevSca_o;



    /* InitializeConditions for RateTransition: '<S162>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kj =

      dx_hand_model_P.RateTransition_InitialCondit_of;



    /* InitializeConditions for UnitDelay: '<S156>/UD' */

    dx_hand_model_DW.UD_DSTATE_ld =

      dx_hand_model_P.DiscreteDerivative_ICPrevScal_m;



    /* InitializeConditions for RateTransition: '<S167>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_bl =

      dx_hand_model_P.RateTransition_InitialCondit_nc;



    /* InitializeConditions for UnitDelay: '<S159>/UD' */

    dx_hand_model_DW.UD_DSTATE_i =

      dx_hand_model_P.DiscreteDerivative3_ICPrevSca_h;



    /* InitializeConditions for RateTransition: '<S163>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_hj =

      dx_hand_model_P.RateTransition_InitialCondit_gk;



    /* InitializeConditions for UnitDelay: '<S157>/UD' */

    dx_hand_model_DW.UD_DSTATE_a =

      dx_hand_model_P.DiscreteDerivative1_ICPrevSc_pm;



    /* InitializeConditions for RateTransition: '<S161>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_pe =

      dx_hand_model_P.RateTransition_InitialCondit_e4;



    /* InitializeConditions for RateTransition: '<S126>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_li =

      dx_hand_model_P.RateTransition_InitialCondit_bl;



    /* InitializeConditions for RateTransition: '<S154>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_e0 =

      dx_hand_model_P.RateTransition_InitialCondit_ee;



    /* InitializeConditions for RateTransition: '<S153>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_h3 =

      dx_hand_model_P.RateTransition_InitialCondit_dj;



    /* InitializeConditions for RateTransition: '<S152>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kr =

      dx_hand_model_P.RateTransition_InitialCondit_od;



    /* InitializeConditions for RateTransition: '<S136>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_mx =

      dx_hand_model_P.RateTransition_InitialCondit_fm;



    /* InitializeConditions for RateTransition: '<S125>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_eg =

      dx_hand_model_P.RateTransition_InitialCondit_kt;



    /* InitializeConditions for RateTransition: '<S169>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_nv =

      dx_hand_model_P.RateTransition_InitialCondit_ia;



    /* InitializeConditions for DiscreteTransferFcn: '<S176>/Filt 4' */

    dx_hand_model_DW.Filt4_states_p3[0] = dx_hand_model_P.Filt4_InitialStates_a;

    dx_hand_model_DW.Filt4_states_p3[1] = dx_hand_model_P.Filt4_InitialStates_a;

    dx_hand_model_DW.Filt4_states_p3[2] = dx_hand_model_P.Filt4_InitialStates_a;

    dx_hand_model_DW.Filt4_states_p3[3] = dx_hand_model_P.Filt4_InitialStates_a;



    /* InitializeConditions for RateTransition: '<S176>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ad =

      dx_hand_model_P.RateTransition_InitialCondit_lj;



    /* InitializeConditions for RateTransition: '<S184>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_or =

      dx_hand_model_P.RateTransition_InitialCondit_fv;



    /* InitializeConditions for RateTransition: '<S173>/Rate Transition' */

    for (i = 0; i < 5; i++) {

      dx_hand_model_DW.RateTransition_Buffer0_pk[i] =

        dx_hand_model_P.RateTransition_InitialCondit_dt;

    }



    /* End of InitializeConditions for RateTransition: '<S173>/Rate Transition' */



    /* InitializeConditions for UnitDelay: '<S172>/Unit Delay3' */

    dx_hand_model_DW.UnitDelay3_DSTATE_a[0] =

      dx_hand_model_P.UnitDelay3_InitialCondition_p[0];

    dx_hand_model_DW.UnitDelay3_DSTATE_a[1] =

      dx_hand_model_P.UnitDelay3_InitialCondition_p[1];



    /* InitializeConditions for UnitDelay: '<S172>/Unit Delay1' */

    dx_hand_model_DW.UnitDelay1_DSTATE_i =

      dx_hand_model_P.UnitDelay1_InitialCondition_e;



    /* InitializeConditions for Memory: '<S176>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput_b[0] =

      dx_hand_model_P.Memory_InitialCondition_i[0];

    dx_hand_model_DW.Memory_PreviousInput_b[1] =

      dx_hand_model_P.Memory_InitialCondition_i[1];

    dx_hand_model_DW.Memory_PreviousInput_b[2] =

      dx_hand_model_P.Memory_InitialCondition_i[2];

    dx_hand_model_DW.Memory_PreviousInput_b[3] =

      dx_hand_model_P.Memory_InitialCondition_i[3];



    /* InitializeConditions for RateTransition: '<S209>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_jt =

      dx_hand_model_P.RateTransition_InitialCondit_an;



    /* InitializeConditions for DiscreteTransferFcn: '<S31>/Filt 4' */

    dx_hand_model_DW.Filt4_states_h = dx_hand_model_P.Filt4_InitialStates_n5;



    /* InitializeConditions for RateTransition: '<S179>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_oq =

      dx_hand_model_P.RateTransition_InitialCondit_fs;



    /* InitializeConditions for RateTransition: '<S210>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_im =

      dx_hand_model_P.RateTransition_InitialCondit_do;



    /* InitializeConditions for RateTransition: '<S180>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ea =

      dx_hand_model_P.RateTransition_InitialCondit_dw;



    /* InitializeConditions for RateTransition: '<S211>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kpx =

      dx_hand_model_P.RateTransition_InitialCondit_lr;



    /* InitializeConditions for UnitDelay: '<S203>/UD' */

    dx_hand_model_DW.UD_DSTATE_j =

      dx_hand_model_P.DiscreteDerivative2_ICPrevSca_i;



    /* InitializeConditions for RateTransition: '<S207>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_pu =

      dx_hand_model_P.RateTransition_InitialCondit_gs;



    /* InitializeConditions for UnitDelay: '<S201>/UD' */

    dx_hand_model_DW.UD_DSTATE_ds =

      dx_hand_model_P.DiscreteDerivative_ICPrevScal_b;



    /* InitializeConditions for RateTransition: '<S212>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_fb =

      dx_hand_model_P.RateTransition_InitialCondit_mz;



    /* InitializeConditions for UnitDelay: '<S204>/UD' */

    dx_hand_model_DW.UD_DSTATE_m =

      dx_hand_model_P.DiscreteDerivative3_ICPrevSca_j;



    /* InitializeConditions for RateTransition: '<S208>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ox =

      dx_hand_model_P.RateTransition_InitialCondit_gn;



    /* InitializeConditions for UnitDelay: '<S202>/UD' */

    dx_hand_model_DW.UD_DSTATE_k =

      dx_hand_model_P.DiscreteDerivative1_ICPrevSca_n;



    /* InitializeConditions for RateTransition: '<S206>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_d5 =

      dx_hand_model_P.RateTransition_InitialCondit_ez;



    /* InitializeConditions for RateTransition: '<S171>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ns =

      dx_hand_model_P.RateTransition_InitialCondit_g5;



    /* InitializeConditions for RateTransition: '<S199>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ap =

      dx_hand_model_P.RateTransition_InitialCondit_az;



    /* InitializeConditions for RateTransition: '<S198>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_jz =

      dx_hand_model_P.RateTransition_InitialCondit_jy;



    /* InitializeConditions for RateTransition: '<S197>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_lf =

      dx_hand_model_P.RateTransition_InitialCondit_fx;



    /* InitializeConditions for RateTransition: '<S181>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_eb =

      dx_hand_model_P.RateTransition_InitialCondi_hgr;



    /* InitializeConditions for RateTransition: '<S170>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_m1 =

      dx_hand_model_P.RateTransition_InitialCondit_px;



    /* InitializeConditions for RateTransition: '<S279>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ly =

      dx_hand_model_P.RateTransition_InitialCondit_ch;



    /* InitializeConditions for RateTransition: '<S280>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_n4 =

      dx_hand_model_P.RateTransition_InitialCondit_lb;



    /* InitializeConditions for RateTransition: '<S281>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_gs =

      dx_hand_model_P.RateTransition_InitialCondit_es;



    /* InitializeConditions for RateTransition: '<S268>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kx =

      dx_hand_model_P.RateTransition_InitialCondit_hc;



    /* InitializeConditions for RateTransition: '<S269>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_dh =

      dx_hand_model_P.RateTransition_InitialCondit_mq;



    /* InitializeConditions for RateTransition: '<S270>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_pl =

      dx_hand_model_P.RateTransition_InitialCondit_dv;



    /* InitializeConditions for RateTransition: '<S271>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ck =

      dx_hand_model_P.RateTransition_InitialCondit_n3;



    /* InitializeConditions for RateTransition: '<S272>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_aw =

      dx_hand_model_P.RateTransition_InitialCondit_ap;



    /* InitializeConditions for RateTransition: '<S282>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_l4 =

      dx_hand_model_P.RateTransition_InitialCondit_p1;



    /* InitializeConditions for RateTransition: '<S283>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_eq =

      dx_hand_model_P.RateTransition_InitialCondit_hr;



    /* InitializeConditions for RateTransition: '<S285>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_dhx =

      dx_hand_model_P.RateTransition_InitialCondit_ab;



    /* InitializeConditions for Memory: '<S243>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput_e[0] =

      dx_hand_model_P.Memory_InitialCondition_gv[0];



    /* InitializeConditions for Memory: '<S243>/Memory1' */

    dx_hand_model_DW.Memory1_PreviousInput[0] =

      dx_hand_model_P.Memory1_InitialCondition[0];



    /* InitializeConditions for Memory: '<S243>/Memory2' */

    dx_hand_model_DW.Memory2_PreviousInput[0] =

      dx_hand_model_P.Memory2_InitialCondition[0];



    /* InitializeConditions for Memory: '<S243>/Memory' */

    dx_hand_model_DW.Memory_PreviousInput_e[1] =

      dx_hand_model_P.Memory_InitialCondition_gv[1];



    /* InitializeConditions for Memory: '<S243>/Memory1' */

    dx_hand_model_DW.Memory1_PreviousInput[1] =

      dx_hand_model_P.Memory1_InitialCondition[1];



    /* InitializeConditions for Memory: '<S243>/Memory2' */

    dx_hand_model_DW.Memory2_PreviousInput[1] =

      dx_hand_model_P.Memory2_InitialCondition[1];



    /* InitializeConditions for RateTransition: '<S284>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_of =

      dx_hand_model_P.RateTransition_InitialCondit_kb;



    /* InitializeConditions for RateTransition: '<S314>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_la =

      dx_hand_model_P.RateTransition_InitialCondi_dfu;



    /* InitializeConditions for RateTransition: '<S266>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_pq =

      dx_hand_model_P.RateTransition_InitialCondit_i5;



    /* InitializeConditions for RateTransition: '<S267>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ky =

      dx_hand_model_P.RateTransition_InitialCondi_hjl;



    /* InitializeConditions for RateTransition: '<S10>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ma =

      dx_hand_model_P.RateTransition_InitialCondit_nq;



    /* InitializeConditions for RateTransition: '<S10>/Rate Transition1' */

    dx_hand_model_DW.RateTransition1_Buffer0_g =

      dx_hand_model_P.RateTransition1_InitialCondit_j;



    /* InitializeConditions for Delay: '<S10>/Delay' */

    for (i = 0; i < 1200; i++) {

      dx_hand_model_DW.Delay_DSTATE_j[i] =

        dx_hand_model_P.Delay_InitialCondition_o;

    }



    /* End of InitializeConditions for Delay: '<S10>/Delay' */



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 6' */

    dx_hand_model_DW.Filt6_states = dx_hand_model_P.Filt6_InitialStates;



    /* InitializeConditions for RateTransition: '<S221>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_m3 =

      dx_hand_model_P.RateTransition_InitialCondit_gu;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 5' */

    dx_hand_model_DW.Filt5_states = dx_hand_model_P.Filt5_InitialStates;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 4' */

    dx_hand_model_DW.Filt4_states_gz = dx_hand_model_P.Filt4_InitialStates_eym;



    /* InitializeConditions for RateTransition: '<S222>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_ax =

      dx_hand_model_P.RateTransition_InitialCondit_ep;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 3' */

    dx_hand_model_DW.Filt3_states = dx_hand_model_P.Filt3_InitialStates;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 2' */

    dx_hand_model_DW.Filt2_states = dx_hand_model_P.Filt2_InitialStates;



    /* InitializeConditions for RateTransition: '<S223>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_pa =

      dx_hand_model_P.RateTransition_InitialCondit_dy;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 1' */

    dx_hand_model_DW.Filt1_states = dx_hand_model_P.Filt1_InitialStates;



    /* InitializeConditions for RateTransition: '<S224>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_kc =

      dx_hand_model_P.RateTransition_InitialCondi_mrn;



    /* InitializeConditions for RateTransition: '<S225>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_c2 =

      dx_hand_model_P.RateTransition_InitialCondit_oh;



    /* InitializeConditions for DiscreteTransferFcn: '<S216>/Filt 8' */

    dx_hand_model_DW.Filt8_states = dx_hand_model_P.Filt8_InitialStates;



    /* InitializeConditions for RateTransition: '<S226>/Rate Transition' */

    dx_hand_model_DW.RateTransition_Buffer0_o0 =

      dx_hand_model_P.RateTransition_InitialCondit_jn;



    /* SystemInitialize for Atomic SubSystem: '<S20>/Subscribe1' */

    /* SystemInitialize for Enabled SubSystem: '<S25>/Enabled Subsystem' */

    /* SystemInitialize for Outport: '<S32>/Out1' */

    dx_hand_model_B.In1 = dx_hand_model_P.Out1_Y0;



    /* End of SystemInitialize for SubSystem: '<S25>/Enabled Subsystem' */

    /* End of SystemInitialize for SubSystem: '<S20>/Subscribe1' */



    /* SystemInitialize for Atomic SubSystem: '<S19>/Subscribe' */

    /* SystemInitialize for Enabled SubSystem: '<S21>/Enabled Subsystem' */

    /* SystemInitialize for Outport: '<S22>/Out1' */

    dx_hand_model_B.In1_e = dx_hand_model_P.Out1_Y0_p;



    /* End of SystemInitialize for SubSystem: '<S21>/Enabled Subsystem' */

    /* End of SystemInitialize for SubSystem: '<S19>/Subscribe' */

  }

}



/* Model terminate function */

void dx_hand_model_terminate(void)

{

  char_T *sErr;



  /* Start for MATLABSystem: '<S33>/Get Parameter3' */

  if (dx_hand_model_DW.obj_e2.isInitialized == 1) {

    dx_hand_model_DW.obj_e2.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S33>/Get Parameter3' */



  /* Terminate for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */

  sErr = GetErrorBuffer(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

  LibTerminate(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);

  if (*sErr != 0) {

    rtmSetErrorStatus(dx_hand_model_M, sErr);

    rtmSetStopRequested(dx_hand_model_M, 1);

  }



  LibDestroy(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U], 0);

  DestroyUDPInterface(&dx_hand_model_DW.ReceivefromHaptics_NetworkLib[0U]);



  /* End of Terminate for S-Function (sdspFromNetwork): '<S4>/Receive from Haptics' */



  /* Terminate for Atomic SubSystem: '<S20>/Subscribe1' */

  /* Start for MATLABSystem: '<S25>/SourceBlock' */

  if (dx_hand_model_DW.obj_ig.isInitialized == 1) {

    dx_hand_model_DW.obj_ig.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S25>/SourceBlock' */

  /* End of Terminate for SubSystem: '<S20>/Subscribe1' */



  /* Terminate for Atomic SubSystem: '<S19>/Subscribe' */

  /* Start for MATLABSystem: '<S21>/SourceBlock' */

  if (dx_hand_model_DW.obj_ct.isInitialized == 1) {

    dx_hand_model_DW.obj_ct.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S21>/SourceBlock' */

  /* End of Terminate for SubSystem: '<S19>/Subscribe' */



  /* Start for MATLABSystem: '<S34>/Get Parameter3' */

  if (dx_hand_model_DW.obj_p3.isInitialized == 1) {

    dx_hand_model_DW.obj_p3.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S34>/Get Parameter3' */



  /* Start for MATLABSystem: '<S46>/Get Parameter3' */

  if (dx_hand_model_DW.obj_me.isInitialized == 1) {

    dx_hand_model_DW.obj_me.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S46>/Get Parameter3' */



  /* Start for MATLABSystem: '<S47>/Get Parameter3' */

  if (dx_hand_model_DW.obj_oe.isInitialized == 1) {

    dx_hand_model_DW.obj_oe.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S47>/Get Parameter3' */



  /* Start for MATLABSystem: '<S45>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ev.isInitialized == 1) {

    dx_hand_model_DW.obj_ev.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S45>/Get Parameter3' */



  /* Start for MATLABSystem: '<S50>/Set Parameter' */

  if (dx_hand_model_DW.obj_b1.isInitialized == 1) {

    dx_hand_model_DW.obj_b1.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S50>/Set Parameter' */



  /* Start for MATLABSystem: '<S50>/Get Parameter3' */

  if (dx_hand_model_DW.obj_m2.isInitialized == 1) {

    dx_hand_model_DW.obj_m2.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S50>/Get Parameter3' */



  /* Start for MATLABSystem: '<S58>/Get Parameter' */

  if (dx_hand_model_DW.obj_hfj.isInitialized == 1) {

    dx_hand_model_DW.obj_hfj.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S58>/Get Parameter' */



  /* Start for MATLABSystem: '<S58>/Get Parameter1' */

  if (dx_hand_model_DW.obj_jb.isInitialized == 1) {

    dx_hand_model_DW.obj_jb.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S58>/Get Parameter1' */



  /* Start for MATLABSystem: '<S58>/Get Parameter2' */

  if (dx_hand_model_DW.obj_mh.isInitialized == 1) {

    dx_hand_model_DW.obj_mh.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S58>/Get Parameter2' */



  /* Start for MATLABSystem: '<S58>/Get Parameter3' */

  if (dx_hand_model_DW.obj_fc.isInitialized == 1) {

    dx_hand_model_DW.obj_fc.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S58>/Get Parameter3' */



  /* Start for MATLABSystem: '<S58>/Get Parameter4' */

  if (dx_hand_model_DW.obj_ju.isInitialized == 1) {

    dx_hand_model_DW.obj_ju.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S58>/Get Parameter4' */



  /* Start for MATLABSystem: '<S66>/Get Parameter3' */

  if (dx_hand_model_DW.obj_al.isInitialized == 1) {

    dx_hand_model_DW.obj_al.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S66>/Get Parameter3' */



  /* Start for MATLABSystem: '<S67>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gbp.isInitialized == 1) {

    dx_hand_model_DW.obj_gbp.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S67>/Get Parameter3' */



  /* Start for MATLABSystem: '<S68>/Get Parameter3' */

  if (dx_hand_model_DW.obj_i.isInitialized == 1) {

    dx_hand_model_DW.obj_i.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S68>/Get Parameter3' */



  /* Start for MATLABSystem: '<S69>/Get Parameter3' */

  if (dx_hand_model_DW.obj_lye.isInitialized == 1) {

    dx_hand_model_DW.obj_lye.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S69>/Get Parameter3' */



  /* Start for MATLABSystem: '<S70>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gts.isInitialized == 1) {

    dx_hand_model_DW.obj_gts.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S70>/Get Parameter3' */



  /* Start for MATLABSystem: '<S71>/Get Parameter3' */

  if (dx_hand_model_DW.obj_d4.isInitialized == 1) {

    dx_hand_model_DW.obj_d4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S71>/Get Parameter3' */



  /* Start for MATLABSystem: '<S72>/Get Parameter3' */

  if (dx_hand_model_DW.obj_fo.isInitialized == 1) {

    dx_hand_model_DW.obj_fo.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S72>/Get Parameter3' */



  /* Start for MATLABSystem: '<S39>/Get Parameter3' */

  if (dx_hand_model_DW.obj_cc.isInitialized == 1) {

    dx_hand_model_DW.obj_cc.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S39>/Get Parameter3' */



  /* Start for MATLABSystem: '<S76>/Get Parameter3' */

  if (dx_hand_model_DW.obj_nd.isInitialized == 1) {

    dx_hand_model_DW.obj_nd.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S76>/Get Parameter3' */



  /* Start for MATLABSystem: '<S77>/Get Parameter3' */

  if (dx_hand_model_DW.obj_cm.isInitialized == 1) {

    dx_hand_model_DW.obj_cm.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S77>/Get Parameter3' */



  /* Start for MATLABSystem: '<S41>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ls.isInitialized == 1) {

    dx_hand_model_DW.obj_ls.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S41>/Get Parameter3' */



  /* Start for MATLABSystem: '<S78>/Get Parameter3' */

  if (dx_hand_model_DW.obj_p1.isInitialized == 1) {

    dx_hand_model_DW.obj_p1.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S78>/Get Parameter3' */



  /* Start for MATLABSystem: '<S79>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hg.isInitialized == 1) {

    dx_hand_model_DW.obj_hg.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S79>/Get Parameter3' */



  /* Start for MATLABSystem: '<S92>/Set Parameter' */

  if (dx_hand_model_DW.obj_nru.isInitialized == 1) {

    dx_hand_model_DW.obj_nru.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S92>/Set Parameter' */



  /* Start for MATLABSystem: '<S92>/Get Parameter3' */

  if (dx_hand_model_DW.obj_aea.isInitialized == 1) {

    dx_hand_model_DW.obj_aea.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S92>/Get Parameter3' */



  /* Start for MATLABSystem: '<S102>/Get Parameter' */

  if (dx_hand_model_DW.obj_hu.isInitialized == 1) {

    dx_hand_model_DW.obj_hu.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S102>/Get Parameter' */



  /* Start for MATLABSystem: '<S102>/Get Parameter1' */

  if (dx_hand_model_DW.obj_hf.isInitialized == 1) {

    dx_hand_model_DW.obj_hf.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S102>/Get Parameter1' */



  /* Start for MATLABSystem: '<S102>/Get Parameter2' */

  if (dx_hand_model_DW.obj_n2.isInitialized == 1) {

    dx_hand_model_DW.obj_n2.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S102>/Get Parameter2' */



  /* Start for MATLABSystem: '<S102>/Get Parameter3' */

  if (dx_hand_model_DW.obj_e1.isInitialized == 1) {

    dx_hand_model_DW.obj_e1.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S102>/Get Parameter3' */



  /* Start for MATLABSystem: '<S102>/Get Parameter4' */

  if (dx_hand_model_DW.obj_gg.isInitialized == 1) {

    dx_hand_model_DW.obj_gg.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S102>/Get Parameter4' */



  /* Start for MATLABSystem: '<S108>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ae1.isInitialized == 1) {

    dx_hand_model_DW.obj_ae1.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S108>/Get Parameter3' */



  /* Start for MATLABSystem: '<S109>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pu.isInitialized == 1) {

    dx_hand_model_DW.obj_pu.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S109>/Get Parameter3' */



  /* Start for MATLABSystem: '<S107>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gr.isInitialized == 1) {

    dx_hand_model_DW.obj_gr.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S107>/Get Parameter3' */



  /* Start for MATLABSystem: '<S116>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pi.isInitialized == 1) {

    dx_hand_model_DW.obj_pi.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S116>/Get Parameter3' */



  /* Start for MATLABSystem: '<S117>/Get Parameter3' */

  if (dx_hand_model_DW.obj_k3.isInitialized == 1) {

    dx_hand_model_DW.obj_k3.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S117>/Get Parameter3' */



  /* Start for MATLABSystem: '<S118>/Get Parameter3' */

  if (dx_hand_model_DW.obj_lx.isInitialized == 1) {

    dx_hand_model_DW.obj_lx.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S118>/Get Parameter3' */



  /* Start for MATLABSystem: '<S119>/Get Parameter3' */

  if (dx_hand_model_DW.obj_mw.isInitialized == 1) {

    dx_hand_model_DW.obj_mw.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S119>/Get Parameter3' */



  /* Start for MATLABSystem: '<S120>/Get Parameter3' */

  if (dx_hand_model_DW.obj_fx.isInitialized == 1) {

    dx_hand_model_DW.obj_fx.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S120>/Get Parameter3' */



  /* Start for MATLABSystem: '<S121>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ha.isInitialized == 1) {

    dx_hand_model_DW.obj_ha.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S121>/Get Parameter3' */



  /* Start for MATLABSystem: '<S122>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ot.isInitialized == 1) {

    dx_hand_model_DW.obj_ot.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S122>/Get Parameter3' */



  /* Start for MATLABSystem: '<S84>/Get Parameter3' */

  if (dx_hand_model_DW.obj_h3.isInitialized == 1) {

    dx_hand_model_DW.obj_h3.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S84>/Get Parameter3' */



  /* Start for MATLABSystem: '<S87>/Get Parameter3' */

  if (dx_hand_model_DW.obj_bs.isInitialized == 1) {

    dx_hand_model_DW.obj_bs.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S87>/Get Parameter3' */



  /* Start for MATLABSystem: '<S88>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hxn.isInitialized == 1) {

    dx_hand_model_DW.obj_hxn.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S88>/Get Parameter3' */



  /* Start for MATLABSystem: '<S89>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ddh.isInitialized == 1) {

    dx_hand_model_DW.obj_ddh.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S89>/Get Parameter3' */



  /* Start for MATLABSystem: '<S124>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pp.isInitialized == 1) {

    dx_hand_model_DW.obj_pp.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S124>/Get Parameter3' */



  /* Start for MATLABSystem: '<S125>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ej.isInitialized == 1) {

    dx_hand_model_DW.obj_ej.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S125>/Get Parameter3' */



  /* Start for MATLABSystem: '<S126>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hxt.isInitialized == 1) {

    dx_hand_model_DW.obj_hxt.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S126>/Get Parameter3' */



  /* Start for MATLABSystem: '<S139>/Set Parameter' */

  if (dx_hand_model_DW.obj_lk.isInitialized == 1) {

    dx_hand_model_DW.obj_lk.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S139>/Set Parameter' */



  /* Start for MATLABSystem: '<S139>/Get Parameter3' */

  if (dx_hand_model_DW.obj_lmh.isInitialized == 1) {

    dx_hand_model_DW.obj_lmh.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S139>/Get Parameter3' */



  /* Start for MATLABSystem: '<S146>/Get Parameter' */

  if (dx_hand_model_DW.obj_ee.isInitialized == 1) {

    dx_hand_model_DW.obj_ee.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S146>/Get Parameter' */



  /* Start for MATLABSystem: '<S146>/Get Parameter1' */

  if (dx_hand_model_DW.obj_ny.isInitialized == 1) {

    dx_hand_model_DW.obj_ny.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S146>/Get Parameter1' */



  /* Start for MATLABSystem: '<S146>/Get Parameter2' */

  if (dx_hand_model_DW.obj_jl.isInitialized == 1) {

    dx_hand_model_DW.obj_jl.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S146>/Get Parameter2' */



  /* Start for MATLABSystem: '<S146>/Get Parameter3' */

  if (dx_hand_model_DW.obj_bu.isInitialized == 1) {

    dx_hand_model_DW.obj_bu.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S146>/Get Parameter3' */



  /* Start for MATLABSystem: '<S146>/Get Parameter4' */

  if (dx_hand_model_DW.obj_dc.isInitialized == 1) {

    dx_hand_model_DW.obj_dc.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S146>/Get Parameter4' */



  /* Start for MATLABSystem: '<S153>/Get Parameter3' */

  if (dx_hand_model_DW.obj_lm.isInitialized == 1) {

    dx_hand_model_DW.obj_lm.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S153>/Get Parameter3' */



  /* Start for MATLABSystem: '<S154>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ov.isInitialized == 1) {

    dx_hand_model_DW.obj_ov.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S154>/Get Parameter3' */



  /* Start for MATLABSystem: '<S152>/Get Parameter3' */

  if (dx_hand_model_DW.obj_mz4.isInitialized == 1) {

    dx_hand_model_DW.obj_mz4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S152>/Get Parameter3' */



  /* Start for MATLABSystem: '<S161>/Get Parameter3' */

  if (dx_hand_model_DW.obj_dd.isInitialized == 1) {

    dx_hand_model_DW.obj_dd.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S161>/Get Parameter3' */



  /* Start for MATLABSystem: '<S162>/Get Parameter3' */

  if (dx_hand_model_DW.obj_mz.isInitialized == 1) {

    dx_hand_model_DW.obj_mz.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S162>/Get Parameter3' */



  /* Start for MATLABSystem: '<S163>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ob.isInitialized == 1) {

    dx_hand_model_DW.obj_ob.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S163>/Get Parameter3' */



  /* Start for MATLABSystem: '<S164>/Get Parameter3' */

  if (dx_hand_model_DW.obj_c4.isInitialized == 1) {

    dx_hand_model_DW.obj_c4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S164>/Get Parameter3' */



  /* Start for MATLABSystem: '<S165>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ae.isInitialized == 1) {

    dx_hand_model_DW.obj_ae.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S165>/Get Parameter3' */



  /* Start for MATLABSystem: '<S166>/Get Parameter3' */

  if (dx_hand_model_DW.obj_e4.isInitialized == 1) {

    dx_hand_model_DW.obj_e4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S166>/Get Parameter3' */



  /* Start for MATLABSystem: '<S167>/Get Parameter3' */

  if (dx_hand_model_DW.obj_dg.isInitialized == 1) {

    dx_hand_model_DW.obj_dg.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S167>/Get Parameter3' */



  /* Start for MATLABSystem: '<S131>/Get Parameter3' */

  if (dx_hand_model_DW.obj_kw.isInitialized == 1) {

    dx_hand_model_DW.obj_kw.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S131>/Get Parameter3' */



  /* Start for MATLABSystem: '<S134>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hl.isInitialized == 1) {

    dx_hand_model_DW.obj_hl.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S134>/Get Parameter3' */



  /* Start for MATLABSystem: '<S135>/Get Parameter3' */

  if (dx_hand_model_DW.obj_dy.isInitialized == 1) {

    dx_hand_model_DW.obj_dy.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S135>/Get Parameter3' */



  /* Start for MATLABSystem: '<S136>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gw.isInitialized == 1) {

    dx_hand_model_DW.obj_gw.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S136>/Get Parameter3' */



  /* Start for MATLABSystem: '<S169>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gb.isInitialized == 1) {

    dx_hand_model_DW.obj_gb.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S169>/Get Parameter3' */



  /* Start for MATLABSystem: '<S170>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ln.isInitialized == 1) {

    dx_hand_model_DW.obj_ln.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S170>/Get Parameter3' */



  /* Start for MATLABSystem: '<S171>/Get Parameter3' */

  if (dx_hand_model_DW.obj_a.isInitialized == 1) {

    dx_hand_model_DW.obj_a.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S171>/Get Parameter3' */



  /* Start for MATLABSystem: '<S184>/Set Parameter' */

  if (dx_hand_model_DW.obj_mo.isInitialized == 1) {

    dx_hand_model_DW.obj_mo.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S184>/Set Parameter' */



  /* Start for MATLABSystem: '<S184>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ja.isInitialized == 1) {

    dx_hand_model_DW.obj_ja.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S184>/Get Parameter3' */



  /* Start for MATLABSystem: '<S191>/Get Parameter' */

  if (dx_hand_model_DW.obj_he.isInitialized == 1) {

    dx_hand_model_DW.obj_he.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S191>/Get Parameter' */



  /* Start for MATLABSystem: '<S191>/Get Parameter1' */

  if (dx_hand_model_DW.obj_nc.isInitialized == 1) {

    dx_hand_model_DW.obj_nc.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S191>/Get Parameter1' */



  /* Start for MATLABSystem: '<S191>/Get Parameter2' */

  if (dx_hand_model_DW.obj_l4.isInitialized == 1) {

    dx_hand_model_DW.obj_l4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S191>/Get Parameter2' */



  /* Start for MATLABSystem: '<S191>/Get Parameter3' */

  if (dx_hand_model_DW.obj_fy.isInitialized == 1) {

    dx_hand_model_DW.obj_fy.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S191>/Get Parameter3' */



  /* Start for MATLABSystem: '<S191>/Get Parameter4' */

  if (dx_hand_model_DW.obj_od.isInitialized == 1) {

    dx_hand_model_DW.obj_od.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S191>/Get Parameter4' */



  /* Start for MATLABSystem: '<S198>/Get Parameter3' */

  if (dx_hand_model_DW.obj_oyi.isInitialized == 1) {

    dx_hand_model_DW.obj_oyi.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S198>/Get Parameter3' */



  /* Start for MATLABSystem: '<S199>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pt.isInitialized == 1) {

    dx_hand_model_DW.obj_pt.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S199>/Get Parameter3' */



  /* Start for MATLABSystem: '<S197>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pap.isInitialized == 1) {

    dx_hand_model_DW.obj_pap.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S197>/Get Parameter3' */



  /* Start for MATLABSystem: '<S206>/Get Parameter3' */

  if (dx_hand_model_DW.obj_mm.isInitialized == 1) {

    dx_hand_model_DW.obj_mm.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S206>/Get Parameter3' */



  /* Start for MATLABSystem: '<S207>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hx.isInitialized == 1) {

    dx_hand_model_DW.obj_hx.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S207>/Get Parameter3' */



  /* Start for MATLABSystem: '<S208>/Get Parameter3' */

  if (dx_hand_model_DW.obj_gt.isInitialized == 1) {

    dx_hand_model_DW.obj_gt.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S208>/Get Parameter3' */



  /* Start for MATLABSystem: '<S209>/Get Parameter3' */

  if (dx_hand_model_DW.obj_oy.isInitialized == 1) {

    dx_hand_model_DW.obj_oy.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S209>/Get Parameter3' */



  /* Start for MATLABSystem: '<S210>/Get Parameter3' */

  if (dx_hand_model_DW.obj_cy.isInitialized == 1) {

    dx_hand_model_DW.obj_cy.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S210>/Get Parameter3' */



  /* Start for MATLABSystem: '<S211>/Get Parameter3' */

  if (dx_hand_model_DW.obj_of.isInitialized == 1) {

    dx_hand_model_DW.obj_of.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S211>/Get Parameter3' */



  /* Start for MATLABSystem: '<S212>/Get Parameter3' */

  if (dx_hand_model_DW.obj_lu.isInitialized == 1) {

    dx_hand_model_DW.obj_lu.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S212>/Get Parameter3' */



  /* Start for MATLABSystem: '<S176>/Get Parameter3' */

  if (dx_hand_model_DW.obj_m0.isInitialized == 1) {

    dx_hand_model_DW.obj_m0.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S176>/Get Parameter3' */



  /* Start for MATLABSystem: '<S179>/Get Parameter3' */

  if (dx_hand_model_DW.obj_hk.isInitialized == 1) {

    dx_hand_model_DW.obj_hk.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S179>/Get Parameter3' */



  /* Start for MATLABSystem: '<S180>/Get Parameter3' */

  if (dx_hand_model_DW.obj_ly.isInitialized == 1) {

    dx_hand_model_DW.obj_ly.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S180>/Get Parameter3' */



  /* Start for MATLABSystem: '<S181>/Get Parameter3' */

  if (dx_hand_model_DW.obj_nr.isInitialized == 1) {

    dx_hand_model_DW.obj_nr.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S181>/Get Parameter3' */



  /* Start for MATLABSystem: '<S240>/Set Parameter' */

  if (dx_hand_model_DW.obj_pb.isInitialized == 1) {

    dx_hand_model_DW.obj_pb.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S240>/Set Parameter' */



  /* Start for MATLABSystem: '<S314>/Get Parameter3' */

  if (dx_hand_model_DW.obj_l.isInitialized == 1) {

    dx_hand_model_DW.obj_l.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S314>/Get Parameter3' */



  /* Start for MATLABSystem: '<S315>/Get Parameter3' */

  if (dx_hand_model_DW.obj.isInitialized == 1) {

    dx_hand_model_DW.obj.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S315>/Get Parameter3' */



  /* Start for MATLABSystem: '<S266>/Get Parameter3' */

  if (dx_hand_model_DW.obj_d.isInitialized == 1) {

    dx_hand_model_DW.obj_d.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S266>/Get Parameter3' */



  /* Start for MATLABSystem: '<S267>/Get Parameter3' */

  if (dx_hand_model_DW.obj_jv.isInitialized == 1) {

    dx_hand_model_DW.obj_jv.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S267>/Get Parameter3' */



  /* Start for MATLABSystem: '<S268>/Set Parameter' */

  if (dx_hand_model_DW.obj_b3.isInitialized == 1) {

    dx_hand_model_DW.obj_b3.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S268>/Set Parameter' */



  /* Start for MATLABSystem: '<S268>/Get Parameter3' */

  if (dx_hand_model_DW.obj_mk.isInitialized == 1) {

    dx_hand_model_DW.obj_mk.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S268>/Get Parameter3' */



  /* Start for MATLABSystem: '<S269>/Set Parameter' */

  if (dx_hand_model_DW.obj_jq.isInitialized == 1) {

    dx_hand_model_DW.obj_jq.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S269>/Set Parameter' */



  /* Start for MATLABSystem: '<S269>/Get Parameter3' */

  if (dx_hand_model_DW.obj_jc.isInitialized == 1) {

    dx_hand_model_DW.obj_jc.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S269>/Get Parameter3' */



  /* Start for MATLABSystem: '<S270>/Set Parameter' */

  if (dx_hand_model_DW.obj_aq.isInitialized == 1) {

    dx_hand_model_DW.obj_aq.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S270>/Set Parameter' */



  /* Start for MATLABSystem: '<S270>/Get Parameter3' */

  if (dx_hand_model_DW.obj_e.isInitialized == 1) {

    dx_hand_model_DW.obj_e.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S270>/Get Parameter3' */



  /* Start for MATLABSystem: '<S271>/Set Parameter' */

  if (dx_hand_model_DW.obj_mg.isInitialized == 1) {

    dx_hand_model_DW.obj_mg.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S271>/Set Parameter' */



  /* Start for MATLABSystem: '<S271>/Get Parameter3' */

  if (dx_hand_model_DW.obj_b.isInitialized == 1) {

    dx_hand_model_DW.obj_b.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S271>/Get Parameter3' */



  /* Start for MATLABSystem: '<S272>/Set Parameter' */

  if (dx_hand_model_DW.obj_di.isInitialized == 1) {

    dx_hand_model_DW.obj_di.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S272>/Set Parameter' */



  /* Start for MATLABSystem: '<S272>/Get Parameter3' */

  if (dx_hand_model_DW.obj_g.isInitialized == 1) {

    dx_hand_model_DW.obj_g.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S272>/Get Parameter3' */



  /* Start for MATLABSystem: '<S230>/Get Parameter' */

  if (dx_hand_model_DW.obj_p.isInitialized == 1) {

    dx_hand_model_DW.obj_p.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter' */



  /* Start for MATLABSystem: '<S230>/Get Parameter2' */

  if (dx_hand_model_DW.obj_m.isInitialized == 1) {

    dx_hand_model_DW.obj_m.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter2' */



  /* Start for MATLABSystem: '<S230>/Get Parameter3' */

  if (dx_hand_model_DW.obj_o.isInitialized == 1) {

    dx_hand_model_DW.obj_o.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter3' */



  /* Start for MATLABSystem: '<S230>/Get Parameter1' */

  if (dx_hand_model_DW.obj_c.isInitialized == 1) {

    dx_hand_model_DW.obj_c.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter1' */



  /* Start for MATLABSystem: '<S230>/Get Parameter4' */

  if (dx_hand_model_DW.obj_j.isInitialized == 1) {

    dx_hand_model_DW.obj_j.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter4' */



  /* Start for MATLABSystem: '<S230>/Get Parameter5' */

  if (dx_hand_model_DW.obj_p2.isInitialized == 1) {

    dx_hand_model_DW.obj_p2.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter5' */



  /* Start for MATLABSystem: '<S230>/Get Parameter6' */

  if (dx_hand_model_DW.obj_ca.isInitialized == 1) {

    dx_hand_model_DW.obj_ca.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S230>/Get Parameter6' */



  /* Terminate for Enabled SubSystem: '<S239>/Subsystem2' */



  /* Terminate for ToFile: '<S310>/To File' */

  {

    FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK.FilePtr;

    if (fp != (NULL)) {

      char fileName[509] = "thumb_force.mat";

      if (fclose(fp) == EOF) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error closing MAT-file thumb_force.mat");

        return;

      }



      if ((fp = fopen(fileName, "r+b")) == (NULL)) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error reopening MAT-file thumb_force.mat");

        return;

      }



      if (rt_WriteMat4FileHeader(fp, 2 + 1, dx_hand_model_DW.ToFile_IWORK.Count,

           "forza_gravita")) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error writing header for forza_gravita to MAT-file thumb_force.mat");

      }



      if (fclose(fp) == EOF) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error closing MAT-file thumb_force.mat");

        return;

      }



      dx_hand_model_DW.ToFile_PWORK.FilePtr = (NULL);

    }

  }



  /* End of Terminate for SubSystem: '<S239>/Subsystem2' */



  /* Terminate for Enabled SubSystem: '<S1>/Thumb Exo Structure' */



  /* Terminate for ToFile: '<S13>/To File' */

  {

    FILE *fp = (FILE *) dx_hand_model_DW.ToFile_PWORK_p.FilePtr;

    if (fp != (NULL)) {

      char fileName[509] = "exo_points.mat";

      if (fclose(fp) == EOF) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error closing MAT-file exo_points.mat");

        return;

      }



      if ((fp = fopen(fileName, "r+b")) == (NULL)) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error reopening MAT-file exo_points.mat");

        return;

      }



      if (rt_WriteMat4FileHeader(fp, 61 + 1,

           dx_hand_model_DW.ToFile_IWORK_l.Count, "points")) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error writing header for points to MAT-file exo_points.mat");

      }



      if (fclose(fp) == EOF) {

        rtmSetErrorStatus(dx_hand_model_M,

                          "Error closing MAT-file exo_points.mat");

        return;

      }



      dx_hand_model_DW.ToFile_PWORK_p.FilePtr = (NULL);

    }

  }



  /* End of Terminate for SubSystem: '<S1>/Thumb Exo Structure' */



  /* Terminate for Atomic SubSystem: '<S14>/Publish1' */

  /* Start for MATLABSystem: '<S17>/SinkBlock' */

  if (dx_hand_model_DW.obj_jct.isInitialized == 1) {

    dx_hand_model_DW.obj_jct.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S17>/SinkBlock' */

  /* End of Terminate for SubSystem: '<S14>/Publish1' */



  /* Start for MATLABSystem: '<S4>/Get Parameter1' */

  if (dx_hand_model_DW.obj_b4.isInitialized == 1) {

    dx_hand_model_DW.obj_b4.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S4>/Get Parameter1' */



  /* Start for MATLABSystem: '<S24>/Get Parameter3' */

  if (dx_hand_model_DW.obj_l3.isInitialized == 1) {

    dx_hand_model_DW.obj_l3.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S24>/Get Parameter3' */



  /* Terminate for S-Function (sdspToNetwork): '<S10>/UDP Send' */

  sErr = GetErrorBuffer(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

  LibTerminate(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);

  if (*sErr != 0) {

    rtmSetErrorStatus(dx_hand_model_M, sErr);

    rtmSetStopRequested(dx_hand_model_M, 1);

  }



  LibDestroy(&dx_hand_model_DW.UDPSend_NetworkLib[0U], 1);

  DestroyUDPInterface(&dx_hand_model_DW.UDPSend_NetworkLib[0U]);



  /* End of Terminate for S-Function (sdspToNetwork): '<S10>/UDP Send' */



  /* Start for MATLABSystem: '<S10>/Get Parameter1' */

  if (dx_hand_model_DW.obj_h.isInitialized == 1) {

    dx_hand_model_DW.obj_h.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S10>/Get Parameter1' */



  /* Start for MATLABSystem: '<S10>/Get Parameter3' */

  if (dx_hand_model_DW.obj_k.isInitialized == 1) {

    dx_hand_model_DW.obj_k.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S10>/Get Parameter3' */



  /* Terminate for Atomic SubSystem: '<S215>/Publish1' */

  /* Start for MATLABSystem: '<S219>/SinkBlock' */

  if (dx_hand_model_DW.obj_br.isInitialized == 1) {

    dx_hand_model_DW.obj_br.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S219>/SinkBlock' */

  /* End of Terminate for SubSystem: '<S215>/Publish1' */



  /* Start for MATLABSystem: '<S221>/Get Parameter3' */

  if (dx_hand_model_DW.obj_f.isInitialized == 1) {

    dx_hand_model_DW.obj_f.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S221>/Get Parameter3' */



  /* Start for MATLABSystem: '<S222>/Get Parameter3' */

  if (dx_hand_model_DW.obj_n.isInitialized == 1) {

    dx_hand_model_DW.obj_n.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S222>/Get Parameter3' */



  /* Start for MATLABSystem: '<S223>/Get Parameter3' */

  if (dx_hand_model_DW.obj_cd.isInitialized == 1) {

    dx_hand_model_DW.obj_cd.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S223>/Get Parameter3' */



  /* Start for MATLABSystem: '<S224>/Get Parameter3' */

  if (dx_hand_model_DW.obj_pa.isInitialized == 1) {

    dx_hand_model_DW.obj_pa.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S224>/Get Parameter3' */



  /* Start for MATLABSystem: '<S225>/Get Parameter3' */

  if (dx_hand_model_DW.obj_bm.isInitialized == 1) {

    dx_hand_model_DW.obj_bm.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S225>/Get Parameter3' */



  /* Start for MATLABSystem: '<S226>/Get Parameter3' */

  if (dx_hand_model_DW.obj_g1.isInitialized == 1) {

    dx_hand_model_DW.obj_g1.isInitialized = 2;

  }



  /* End of Start for MATLABSystem: '<S226>/Get Parameter3' */

}